Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Shiv Manjaree; Bahadur Chand Nakra; Vijyant Agarwal

doi:10.1515/ama-2015-0037

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Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Acta Mechanica et Automatica

Volume 9 (2015): Issue 4 (December 2015)

By: Shiv Manjaree, Bahadur Chand Nakra and Vijyant Agarwal

Open Access

|Dec 2015

Abstract

This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained for forward kinematics and inverse kinematics to accurately position the end-effector of robotic manipulator in three dimensional spaces. For the first time, a hybrid neuro-fuzzy intelligent technique with two different membership functions has been studied and their performances are comparatively evaluated with analytical solutions. An experiment has been performed for a desired trajectory. It is seen that the results for the intelligent technique are reasonably in agreement with experiment. Also, the results obtained highlight the importance of selection of a particular membership function for robotic manipulators of industrial use.

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Articles in this issue

DOI: https://doi.org/10.1515/ama-2015-0037 | Journal eISSN: 2300-5319 | Journal ISSN: 1898-4088

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Language: English

Page range: 229 - 240

Submitted on: Dec 2, 2014

Accepted on: Dec 14, 2015

Published on: Dec 30, 2015

Published by: Bialystok University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

Kinematic Analysis,

Wrist,

ANFIS,

Membership Function,

Degree of Freedom

Related subjects:

Engineering,

Electrical engineering,

Electronics,

Mechanical engineering,

Mechanics,

Bioengineering and biomedical engineering,

Biomechanics,

Civil engineering,

Environmental engineering

© 2015 Shiv Manjaree, Bahadur Chand Nakra, Vijyant Agarwal, published by Bialystok University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Volume 9 (2015): Issue 4 (December 2015)