<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Department of Mechanical Engineering, The Northcap University (Formerly ITM University), Sector 23 A, Gurgaon, India

Department of Mechanical Engineering, IIT Delhi, Hauz Khas, New Delhi, India

Department of MPAE, NSIT, Sector 3, Dwarka, New Delhi, India

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator"}

This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained...

Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Online veröffentlicht: 30. Dez. 2015

Seitenbereich: 229 - 240

Eingereicht: 02. Dez. 2014

Akzeptiert: 14. Dez. 2015

DOI: https://doi.org/10.1515/ama-2015-0037

Schlüsselwörter
Kinematic Analysis, Wrist, ANFIS, Membership Function, Degree of Freedom

© 2015 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Online veröffentlicht: 30. Dez. 2015

Seitenbereich: 229 - 240

Eingereicht: 02. Dez. 2014

Akzeptiert: 14. Dez. 2015

DOI: https://doi.org/10.1515/ama-2015-0037

SchlüsselwörterKinematic Analysis, Wrist, ANFIS, Membership Function, Degree of Freedom

© 2015 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Schlüsselwörter
Kinematic Analysis, Wrist, ANFIS, Membership Function, Degree of Freedom