Waveform based Inverse Kinematics Algorithm of Kinematically Redundant 3-DOF Manipulator

Setyamartana Parman & Affiani Machmudah
This paper presents a new approach to the problem of inverse kinematics by modelling robot arm movements as signals generated from algebra-based solutions. The inverse kinematics of point P(xP,yP) are modelled as sinusoidal functions with mechanical constraints. Unique wave forms occur at each point in the workspace. There are four types of inverse kinematic waves depending on how sinusoidal waves cross the value of mechanical constraints. In terms of tracking the path, the robot's arm...
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