RESEARCH PAPER
Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator
1
Department of Mechanical Engineering, The Northcap University (Formerly ITM University), Sector 23 A, Gurgaon, India
2
Department of Mechanical Engineering, IIT Delhi, Hauz Khas, New Delhi, India
3
Department of MPAE, NSIT, Sector 3, Dwarka, New Delhi, India
Submission date: 2014-12-02
Acceptance date: 2015-12-14
Online publication date: 2015-12-30
Publication date: 2015-12-01
Acta Mechanica et Automatica 2015;9(4):229-240
KEYWORDS
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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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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