Mechatronic system reliability modelling and analysis: a graph theoretic approach

Kiran, C. Phaneendra; Clement, S.; Agrawal, Vikesh

doi:10.1504/ijrs.2013.056377

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“…In order to avoid these issues the robot manufacturers usually select a kinematic chain that solves the inverse kinematic problem in a closed form. These choices are focused to guarantee the required performance and reliability of robots and mechatronic systems [43][44][45][46]. This study aims to propose an alternative approach focusing on the numerical solution overcoming difficulties without losing in computational performances.…”

Section: F(q) Smentioning

confidence: 99%

Inverse Kinematics of a Serial Robot

Amici

Cappellini

2016

MATEC Web of Conferences

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Abstract. This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.

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Section: F(q) Smentioning

confidence: 99%