Inverse Kinematics Solution For 6 Degree Of Freedom Of Fanuc LR Mate 200IB Robot
This project develops an algorithm for solving the inverse kinematics equation. The inverse kinematics equation is solving to determine angles (Ø) of rotation linkages of the three main axes of the robot by using programming software for 6 DOF of Fanuc LR Mate 200iB robot called ivFanuc. The proc...
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| Format: | Monograph |
| Published: |
UTeM
2010
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000062278 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000062278 http://eprints.utem.edu.my/3159/1/Inverse_Kinematics_Solution_For_6_Degree_Of_Freedom_Of_Fanuc_LR_Mate_200IB_Robot_-_Mohd_Khafizuddin_Khairddin_-_TJ211.412.M54_2010_24_Pages.pdf http://eprints.utem.edu.my/3159/2/Inverse_Kinematics_Solution_For_6_Degree_Of_Freedom_Of_Fanuc_LR_Mate_200IB_Robot_-_Mohd_Khafizuddin_Khairddin_-_TJ211.412.M54_2010.pdf |
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| Summary: | This project develops an algorithm for solving the inverse kinematics equation.
The inverse kinematics equation is solving to determine angles (Ø) of rotation linkages
of the three main axes of the robot by using programming software for 6 DOF of Fanuc
LR Mate 200iB robot called ivFanuc. The process involves the control of parameter
known as the value of the final position and orientation of the robot. This parameter is
determined by user before solve the inverse kinematics equation. Its inverse kinematics
problem will be solved by using conventional method and simulation. Both results will
be compared to ensure the algorithm that was developed is correct and can be used for
solving the inverse kinematics equation. The GUI was designed which ask user to insert
the position and then the software will show the theta (Ø). The correct output of
interface prove that this command can be used for solves the inverse kinematics
equation. Overall, this project will describe the technique, calculation, method and
algorithm on how the inverse kinematics is solved. |
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