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RISS 인기검색어
- 검색키워드
- 저자 : Samer Yahya (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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The Motion Planning of the Hyper-Redundant Manipulators
Samer Yahya,Haider A. F. Mohammad,S. S. Yang 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Efficient control of industrial robots is an important issue to the success of industrial automation. The motion planning of robot manipulators is one of the challenging problems encountered in this field. A new method for the motion planning is presented in this paper. The basic idea is to find a smooth path consisting of points close enough to each other. Then the computation of the inverse kinematics for these points is accomplished with the help of a geometrical method to solve the problem of multi-solution caused by redundancy. This geometrical method finds one optimal solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions with fewer computations. This method can be used for any planar n-serial manipulators. Experiments are conducted on a 4-links hyper-redundant manipulator to demonstrate the effectiveness of this proposed method.
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Inverse Kinematics of an Equal Length Links Planar Hyper Redundant Manipulator Using Neural Networks
Samer Yahya,Haider A. F. Mohamed,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
An iterative method using the neural networks to solve the inverse kinematics problem for equal length links redundant manipulators is presented in this paper. The training phase, calculating the neural networks weights, is accomplished for a new proposed geometrical method to solve the problem of multi-solution caused by redundancy. The use of this geometrical method results in one solution among the infinite solutions of the inverse kinematics of theredundant manipulators. This method is very effective for avoiding the singularity problem because it guarantees that there is no lining up for two or more links. Another advantage for this method is that the angles between the links willbe set between two maximum and minimum values. This means that the end-effecter can reach any point on the desired path and the angles between the links will not be less than the minimum limit or more than the maximum limit, which makes this method effective for joint limits. To demonstrate the effectiveness of this proposed method, experiments were conducted on an 8 links hyper redundant manipulator in this paper. In addition, the workspace of the manipulator is calculated for this proposed method.
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A New Inverse Kinematics Method for Three Dimensional Redundant Manipulators
Haider A. F. Mohamed,Samer Yahya,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective for avoiding singularities. A comparison between the proposed manipulator and the PUMA manipulator has been carried out. The manipulability index of both manipulators has been calculated to show the effectiveness of the proposed method. Experiments have been conducted on three links manipulator.
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