Position control of a four link hyper redundant robotic manipulator

Hyper-Redundant robotic manipulators like Serial robots, Snake robots, Tentacle robots or Continuum robots have very large number of degrees of kinematics redundancy. Position control of such a robotic manipulator comprising of more than three links and articulated joints is a big challenge due to t...

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Main Authors:	Ahmmad, Syed Masrur, Khan, Md. Raisuddin, Rahman, Md. Mozasser, Billah, Masum
Format:	Article
Language:	English
Published:	Asian Network for Scientific Information 2013
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf

id	iium-29213
recordtype	eprints
spelling	iium-292132015-08-12T03:09:58Z http://irep.iium.edu.my/29213/ Position control of a four link hyper redundant robotic manipulator Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum TA Engineering (General). Civil engineering (General) Hyper-Redundant robotic manipulators like Serial robots, Snake robots, Tentacle robots or Continuum robots have very large number of degrees of kinematics redundancy. Position control of such a robotic manipulator comprising of more than three links and articulated joints is a big challenge due to the involvement of large number of trigonometric terms in its inverse kinematics equations. In this paper, a simple algorithm for the inverse kinematics solution (IKS) of a four-link serial robotic manipulator has been proposed, which is then validated experimentally. The proposed method divides the robot into two two-link virtual sub-robot and solves the inverse kinematics analytically for joint variables of each sub-robot successively. A validation experiment was conducted on a 4-link prototype to check the validity of the proposed algorithm. The experimental results showed satisfactory results with good repeatability. Asian Network for Scientific Information 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf Ahmmad, Syed Masrur and Khan, Md. Raisuddin and Rahman, Md. Mozasser and Billah, Masum (2013) Position control of a four link hyper redundant robotic manipulator. Asian Journal of Scientific Research, 6 (1). pp. 67-77. ISSN 1992-1454 http://scialert.net/abstract/?doi=ajsr.2013.67.77 10.3923/ajsr.2013.67.77
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum Position control of a four link hyper redundant robotic manipulator
description	Hyper-Redundant robotic manipulators like Serial robots, Snake robots, Tentacle robots or Continuum robots have very large number of degrees of kinematics redundancy. Position control of such a robotic manipulator comprising of more than three links and articulated joints is a big challenge due to the involvement of large number of trigonometric terms in its inverse kinematics equations. In this paper, a simple algorithm for the inverse kinematics solution (IKS) of a four-link serial robotic manipulator has been proposed, which is then validated experimentally. The proposed method divides the robot into two two-link virtual sub-robot and solves the inverse kinematics analytically for joint variables of each sub-robot successively. A validation experiment was conducted on a 4-link prototype to check the validity of the proposed algorithm. The experimental results showed satisfactory results with good repeatability.
format	Article
author	Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum
author_facet	Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum
author_sort	Ahmmad, Syed Masrur
title	Position control of a four link hyper redundant robotic manipulator
title_short	Position control of a four link hyper redundant robotic manipulator
title_full	Position control of a four link hyper redundant robotic manipulator
title_fullStr	Position control of a four link hyper redundant robotic manipulator
title_full_unstemmed	Position control of a four link hyper redundant robotic manipulator
title_sort	position control of a four link hyper redundant robotic manipulator
publisher	Asian Network for Scientific Information
publishDate	2013
url	http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf
first_indexed	2023-09-18T20:42:52Z
last_indexed	2023-09-18T20:42:52Z
_version_	1777409481596993536

Position control of a four link hyper redundant robotic manipulator

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