Theory of Robot Control and Inverse Kinematics
By: Singh, Shraddha
.
Publisher: New Delhi Journals Pub 2019Edition: Vol.5(2), Jul-Dec.Description: 31-37p.Subject(s): Electrical EngineeringOnline resources: Click here
In:
International journal of analysis of electrical machinesSummary: Robot kinematics defined as the analytical study of the motion of a robots machinist. The
robot control problem can be explained into two main areas: kinematics control (the
coordination of the links of kinematics chain to produce desired motion of the robot), and
dynamics control (driving the actuator of the mechanism to follow the commanded positions
and velocities). Inverse kinematics (IK) is the mathematical process of recode the movements
of an object in the world from some other data, such as a film of those movements, or a film
of the world as noticed by a camera which is itself making those motion. Frequently, the
kinematics analysis is performed in two ways in robotics: (1) forward kinematics (FK), (2)
inverse kinematics (IK). FK is defined as the mapping from joint space to Cartesian space
(also called task space), on the other hand IK is defined as the mapping from Cartesian space
to joint space, i.e., computation needs to find the joint angles for a given Cartesian position
and orientation of the end-effectors.
| Item type | Current location | Call number | Status | Date due | Barcode | Item holds |
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Articles Abstract Database
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School of Engineering & Technology Archieval Section | Not for loan | 2020-2021209 |
Robot kinematics defined as the analytical study of the motion of a robots machinist. The
robot control problem can be explained into two main areas: kinematics control (the
coordination of the links of kinematics chain to produce desired motion of the robot), and
dynamics control (driving the actuator of the mechanism to follow the commanded positions
and velocities). Inverse kinematics (IK) is the mathematical process of recode the movements
of an object in the world from some other data, such as a film of those movements, or a film
of the world as noticed by a camera which is itself making those motion. Frequently, the
kinematics analysis is performed in two ways in robotics: (1) forward kinematics (FK), (2)
inverse kinematics (IK). FK is defined as the mapping from joint space to Cartesian space
(also called task space), on the other hand IK is defined as the mapping from Cartesian space
to joint space, i.e., computation needs to find the joint angles for a given Cartesian position
and orientation of the end-effectors.
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