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    Abstract
2012 (Vol. 4, Issue: 16)
Article Information:

An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator

G.E. Xin-Feng, Z.H.A.O. Dong-Biao, L.U. Yonghua and L.I.U. Kai
Corresponding Author:  G.E. Xin-Feng 

Key words:  Inverse kinematics algorithm, position vector, posture transformation matrix, robotic manipulator, , ,
Vol. 4 , (16): 2645-2648
Submitted Accepted Published
December 12, 2011 January 13, 2012 August 15, 2012
Abstract:

To solve inverse kinematics of the automated fiber placement robotic manipulator, an algorithm based on the position vector and posture transformation matrix is proposed. According to the structural characteristics of three revolute joint axes of the automated fiber placement robotic manipulator intersect at one point, three displacement joint variables and three revolute joint variables are calculated, respectively using the position vector and posture transformation matrix. Compared with the general iterative algorithm, the algorithm proposed in this paper reduces the number of solving inverse matrices, increases solving speed and is expressed more simply. The algorithm is verified by simulation and the simulation result shows that the proposed algorithm in this study is correct.
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  Cite this Reference:
G.E. Xin-Feng, Z.H.A.O. Dong-Biao, L.U. Yonghua and L.I.U. Kai, 2012. An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator.  Research Journal of Applied Sciences, Engineering and Technology, 4(16): 2645-2648.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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