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Inverse kinematics analysis of welding robot IRB 1520ID using algorithm for adjusting the increments of generalized vector

Inverse kinematics analysis of welding robot IRB 1520ID using algorithm for adjusting the increments of generalized vector

Chu, Anh My, Duong, Xuan Bien and Le, Chi Hieu ORCID: 0000-0002-5168-2297 (2021) Inverse kinematics analysis of welding robot IRB 1520ID using algorithm for adjusting the increments of generalized vector. In: Kumar, Raghvendra, Quang, Nguyen Ho, Kumar Solanki, Vijender, Cardona, Manuel and Pattnaik, Prasant Kumar, (eds.) Research in Intelligent and Computing in Engineering: Select Proceedings of RICE 2020. Advances in Intelligent Systems and Computing (1254). Springer Singapore. ISBN 978-9811575266 (In Press) (doi:https://doi.org/10.1007/978-981-15-7527-3)

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Abstract

This paper focuses on presenting an algorithm for adjusting the incre-ments of generalized vector to solve the inverse kinematics problem of welding robot IRB 1520ID which has six degrees of freedom. It means a redundant sys-tem. This method allows the end-effector position of robot to follow the desired trajectory and ensure a given tolerance. Values of joint variables are calculated consecutively in corresponding to each position of the end-effector point. These values are ensured within the permitted limits, stick to each other and avoid sin-gular points. The velocity, acceleration and jerk of joints are also calculated based on the results from the algorithm mentioned above combining with the accurate determination of derivative the first and second order Jacobian matrices with re-spect to time. These values are guaranteed to be within the permitted motion limits of the robot. In addition, the acceleration and the jerk at the end-effector point are determined through the forward kinematics problem.

Item Type: Book Section
Uncontrolled Keywords: Welding robots, Adjusting algorithm, Redundant system, Inverse kinematics
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / Department / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Faculty of Engineering & Science > School of Engineering (ENN)
Related URLs:
Last Modified: 25 Nov 2020 19:18
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
Selected for REF2021: None
URI: http://gala.gre.ac.uk/id/eprint/28642

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