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What is Inverse Kinematics

Chapter 5
Handbook of Research on Green Engineering Techniques for Modern Manufacturing
The inverse kinematics is when the kinematics data are known for the end-effecter in Cartesian space. The joint variables are to be computed.
Published in Chapter:
Kinematic Modelling and Simulation of 8 Degrees of Freedom SCARA Robot
Saravana Mohan M. (Kumaraguru College of Technology, India) and Anbumalar V. (Velammal College of Engineering and Technology, India)
Copyright: © 2019 |Pages: 21
DOI: 10.4018/978-1-5225-5445-5.ch005
Abstract
Robots are electromechanical systems that need mechatronic approach before manufacturing to reduce the development cost. In this chapter, the modelling of the 8 degrees of freedom (DOF) SCARA robot with a multiple gripper using SolidWorks CAD software and the dynamic study with the aid of MATLAB/SimMechanics is presented. The SCARA with multiple gripper is used for pick and place operation in manufacturing industries. The SolidWorks CAD model of SCARA with multiple grippers is converted into SimMechanics block diagram by exporting the 3D CAD model to the MATLAB/SimMechanics second generation technology environment. The motion sensing capability of the SimMechanics is used for determining the dynamic parameters of the manipulators. The SimMechanics block diagrams and the results of the dynamic study presented in this chapter infer that the structure of the robot can be changed to get the required dynamic parameters.
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More Results
Chapter 15
Kinematic Modeling and Real-Time Implementation of an Indigenous Control System for a Novel Three-Link Flexible Robot
Analytical procedure to compute joint co-ordinates from a pre-assigned end-point co-ordinates of a robotic system.
Published in Chapter: Kinematic Modeling and Real-Time Implementation of an Indigenous Control System for a Novel Three-Link Flexible Robot; From: Design and Control Advances in Robotics
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