The modeling of Inverse Kinematics for 5 DOF manipulator

被引：32

作者：

Iliukhin, V. N. ^{[1
]}

Mitkovskii, K. B. ^{[2
]}

Bizyanova, D. A. ^{[1
]}

Akopyan, A. A. ^{[1
]}

机构：

[1] Samara Natl Res Univ, Moskovskoe Highway 34, Samara 443086, Russia

[2] Natl Instruments Russia, Ozyornaya St 42, Moscow 119361, Russia

来源：

PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON DYNAMICS AND VIBROACOUSTICS OF MACHINES (DVM2016) | 2017年 / 176卷

关键词：

Robot manipulator; Forward Kinematics; Inverse Kinematics; Denavit-Hartenberg method; MATLAB; Brain-Computer Interface;

D O I：

10.1016/j.proeng.2017.02.349

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

This paper is the part of research aimed at creating robotic manipulator controlled by means of Brain-Computer Interfacefor improving household self-reliance of persons with disabilities and expanding the scope of their activity. The robotic manipulator gives possibility of self-fulfillment in basic household functions, s. a. drinking, eating, facial hygiene. The paper presents a mathematical model of the kinematics of the robotic manipulator. The solution of the forward and inverse kinematics problems based on the geometric method are given and obtained in MATLAB for the 5DOF manipulator. (C) 2017 Published by Elsevier Ltd.

引用

页码：498 / 505

页数：8

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