- Tytuł:
- Comparative analysis for kinematics of 5-DOF industrial robotic manipulator
- Autorzy:
-
Manjaree, S.
Nakra, B. C.
Agarwal, V. - Powiązania:
- https://bibliotekanauki.pl/articles/386276.pdf
- Data publikacji:
- 2015
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
kinematic analysis
wrist
anfis
membership function
degree of freedom
analiza kinematyczna
nadgarstek
manipulator przemysłowy
robot przemysłowy - Opis:
- This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained for forward kinematics and inverse kinematics to accurately position the end-effector of robotic manipulator in three dimensional spaces. For the first time, a hybrid neuro-fuzzy intelligent technique with two different membership functions has been studied and their performances are comparatively evaluated with analytical solutions. An experiment has been performed for a desired trajectory. It is seen that the results for the intelligent technique are reasonably in agreement with experiment. Also, the results obtained highlight the importance of selection of a particular membership function for robotic manipulators of industrial use.
- Źródło:
-
Acta Mechanica et Automatica; 2015, 9, 4; 229-240
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł