Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics

Bulut S., Terzioglu M.

ROBOTICA, cilt.24, ss.355-363, 2006 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 24
  • Basım Tarihi: 2006
  • Doi Numarası: 10.1017/s0263574705002274
  • Dergi Adı: ROBOTICA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.355-363
  • Anahtar Kelimeler: two link planar manipulator, inverse kinematics, joint angles, angular velocity, forward kinematics
  • Sivas Cumhuriyet Üniversitesi Adresli: Evet

Özet

In this paper, the joint angles of a two link planar manipulator are calculated by using inverse kinematics equations together with some geometric equalities. For a given position of the end-effector the joint angle and angular velocity of the links are derived. The analyses contains many equations which have to be solved. However, the solutions are rather cumbersome and complicated, therefore a program is written in Fortran 90 in order to do, the whole calculation and data collection. The results are given at the end of this paper.