A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation. (8th September 2010)

• Record Type: Journal Article
• Authors: Clothier, Kurt E.; Shang, Ying
• Other Names: Hu Huosheng Academic Editor.
• Is Part Of: Journal of robotics. Volume 2010(2010)
• Publication Date: 2010-09-08
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2010/984823
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : This paper presents a geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm. A plethora of complex mathematical processes is reduced using basic trigonometric in the modeling of the robotic arm. This modeling and analysis approach is tested using a five-degree-of-freedom arm with a gripper style end effector mounted to an iRobot Create mobile platform. The geometric method is easily modifiable for similar robotic system architectures and provides the capability of local autonomy to a system which is very difficult to manually control.