Search Results
1 Introduction The robot is a mechanical device which needs no breaks, and it can operate continuously. Furthermore, the robot outperformed the human workers in terms of speed and accuracy. The forward kinematics (FK) and inverse kinematics (IK) are
-effector cannot rotate around this vertical axis. The main objective of the robot is to make microcontroller programming available to the students and introduce the field of robotics at beginning level, which contains the solution technique of inverse kinematics
's position at all times, forward and inverse kinematics are essential in this case. In addition, knowing the angular positions of the axes of the robot arm allows one to locate the TCP (Tool Centre Point) basic coordinate system. Calculating forward
, 2023 . [7] L. Yiyang , J. Xi , B. Hongfei , W. Zhining , and S. Liangliang , “ A general robot inverse kinematics solution method based on improved PSO algorithm ,” IEEE Access , vol. 9 , pp. 32341 – 32350 , 2021 . [8] H. Nobahari
must be designed with careful consideration of the singularity points. As such, they must be monitored continuously to prevent damages. 3 Design of a measuring system The root cause of singularity can be traced back to inverse kinematics. However
filter, then knee and ankle joint angles were calculated in Opensim (SimTK v. 4.0.1.) software using inverse kinematics and a modified Helen–Hayes model. Joint angles were calculated for each step, but only five continuous steps were selected from both
