dc.contributor.author |
Makondo, N
|
|
dc.contributor.author |
Claassens, J
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|
dc.contributor.author |
Tlale, N
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|
dc.contributor.author |
Braae, M
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|
dc.date.accessioned |
2013-02-04T07:53:43Z |
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dc.date.available |
2013-02-04T07:53:43Z |
|
dc.date.issued |
2012-11 |
|
dc.identifier.citation |
Makondo, N, Claassens, J, Tlale, N and Braae, M. 2012. Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator. In: Robmech 2012, Pretoria, 26-27 November 2012 |
en_US |
dc.identifier.uri |
www.robmech.co.za/
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|
dc.identifier.uri |
http://hdl.handle.net/10204/6515
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|
dc.description |
ROBMECH 2012: 5th Robotics and Mechatronics Conference of South Africa, CSIR Convention Centre, Pretoria, 26-27 November 2012 |
en_US |
dc.description.abstract |
This paper describes a geometrical method for solving the inverse kinematic (IK) problem of a 5 Degrees of Freedom (DOF) redundant manipulator. A geometric inverse kinematics solution is desirable as it provides complete and simple solutions to the problem and determines efficiently the relationship between the joints and the end-effector without iterative process. Using a geometric method, if a solution exists, we provide all feasible solutions to the IK problem and from these solutions an optimal solution can be selected using a performance criterion such as stability of the platform, collision avoidance, joint limits, manipulability or singularity avoidance. The method is computationally inexpensive and can be useful in planning with redundant manipulators and in sensor based environments. |
en_US |
dc.language.iso |
en |
en_US |
dc.publisher |
Robmech |
en_US |
dc.relation.ispartofseries |
Workflow;9965 |
|
dc.subject |
Inverse kinematics |
en_US |
dc.subject |
Kinematic modeling |
en_US |
dc.subject |
Sensor based environments |
en_US |
dc.subject |
Robot manipulator |
en_US |
dc.subject |
Mining safety |
en_US |
dc.title |
Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator |
en_US |
dc.type |
Conference Presentation |
en_US |
dc.identifier.apacitation |
Makondo, N., Claassens, J., Tlale, N., & Braae, M. (2012). Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator. Robmech. http://hdl.handle.net/10204/6515 |
en_ZA |
dc.identifier.chicagocitation |
Makondo, N, J Claassens, N Tlale, and M Braae. "Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator." (2012): http://hdl.handle.net/10204/6515 |
en_ZA |
dc.identifier.vancouvercitation |
Makondo N, Claassens J, Tlale N, Braae M, Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator; Robmech; 2012. http://hdl.handle.net/10204/6515 . |
en_ZA |
dc.identifier.ris |
TY - Conference Presentation
AU - Makondo, N
AU - Claassens, J
AU - Tlale, N
AU - Braae, M
AB - This paper describes a geometrical method for solving the inverse kinematic (IK) problem of a 5 Degrees of Freedom (DOF) redundant manipulator. A geometric inverse kinematics solution is desirable as it provides complete and simple solutions to the problem and determines efficiently the relationship between the joints and the end-effector without iterative process. Using a geometric method, if a solution exists, we provide all feasible solutions to the IK problem and from these solutions an optimal solution can be selected using a performance criterion such as stability of the platform, collision avoidance, joint limits, manipulability or singularity avoidance. The method is computationally inexpensive and can be useful in planning with redundant manipulators and in sensor based environments.
DA - 2012-11
DB - ResearchSpace
DP - CSIR
KW - Inverse kinematics
KW - Kinematic modeling
KW - Sensor based environments
KW - Robot manipulator
KW - Mining safety
LK - https://researchspace.csir.co.za
PY - 2012
T1 - Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator
TI - Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator
UR - http://hdl.handle.net/10204/6515
ER -
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en_ZA |