Effects of System Parameters and Controlled Torque on The Dynamics of Rigid-Flexible Robotic Manipulator

Mahto, Sachindra

doi:10.5954/icarob.2016.gs7-2

Cited by 1 publication

(1 citation statement)

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“…Equation 7 is a rotation of dψ about the x axis, followed by a rotation d β about the y axis and finally a rotation of dφ about the z axis. The references [24] and [25] have supported that, if the generalized deflection parameters are so small, a first-order approximation can be applied to their trigonometric functions and product and their higher-order equals will be zero. Hence, the final calculating of the inverse kinematics for the arm is following [26…”

Section: E Inverse Kinematicsmentioning

confidence: 99%

Sigma-3: Integration and Analysis of a 6 DOF Robotic Arm Configuration in a Rescue Robot

Bindu¹,

Neloy²,

Alam³

et al. 2019

2019 4th International Conference on Robotics and Automation Engineering (ICRAE)

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This paper introduces a rescue robot named Sigma-3 which is developed for potential applications such as helping hands for humans where a human can't reach to have an assessment of the hazardous environment. Also, these kinds of robot can be controlled remotely with an adequate control system. The proposed methodology forces on two issues -1. Novel mechanism design for measuring rotation, joints, links of Degree of Freedom (DOF) for an arm which is integrated with Sigma-3 2. Precise measuring of end-effector motion control over three dimensions. In the proposed mechanism design, the DOF measurement is presented by a planar and spatial mechanism where 4 types of rigid joints build up each DOF with controlling by six High Torque MG996R servo motors. Rotation and DOF measurement are consisting of different theoretical references of Rotation Matrix, Inverse Kinematics with experimental results. Presented methodology over Oscillation Damping performance exhibits less than 3% error while configuring for on hands testing. Another evaluation of operating time state strongly defends the mechanism of low power consumption ability.

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Section: E Inverse Kinematicsmentioning

confidence: 99%