Document Type
Event
Keywords
Inverse Kinematics, Manipulator Control, Robotic Arm
Description
This paper presents a complete forward and inverse kinematics solution for SG5-UT, 5 DOF robotic arm. The solution is intended to be implemented on a microprocessor to control the arm in any environment. The control presented in the paper makes it possible to manipulate the arm to any reachable position. The algorithm derived in this paper has been successfully tested on the arm. This arm is analyzed for the purposes of being mounted on a humanoid robot, called Gnuman.
DOI
https://doi.org/10.5038/UIJM3258
Robotic Arm Manipulator Control for SG5-UT
This paper presents a complete forward and inverse kinematics solution for SG5-UT, 5 DOF robotic arm. The solution is intended to be implemented on a microprocessor to control the arm in any environment. The control presented in the paper makes it possible to manipulate the arm to any reachable position. The algorithm derived in this paper has been successfully tested on the arm. This arm is analyzed for the purposes of being mounted on a humanoid robot, called Gnuman.