Optimization of Inverse Kinematic Solution of a T4R Robotic Manipulator

Abstract

Inverse kinematics has always been a major subject of extensive research filled with redundancy. A need for meticulous functioning and fast computation is always high in any mechatronic system and is growing with new advances and human requirements. In this paper, a T4R (T-Twisting, R-Rotary) robot with constrained motion and joint precision of 1 degree is analyzed for its workspace and kinematics. While the redundant inverse kinematic solution is being optimized for precision and limiting errors, further can be used for programming and motion planning a Robotic Manipulator or Arm. The strategies developed in this paper could also be useful for solving the inverse kinematics problems of other similar types of robotic arms.

Some Aircraft Considered New in 2020

“…However, things are not so hopeless. The most promising projects in the field of aeronautics are described below, demonstrating that the development of aviation continues (Anderson, 1997;CE, 2018;García, 2020;Rana, 2020;Garfo et al, 2020;Kumar and Sreenivasulu, 2019;Mishra and Sarawagi, 2020;Welabo and Tesfamariamr, 2020;Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2000a;2000b;2001;Aversa et al, 2017a;2016d;Ayiei, 2020;Brewer, 1991;Chilukuri et al, 2019;Cao et al, 2013;Dong et al, 2013;Saheed et al, 2019;Riman, 2019;Matthews and Yi, 2019;Dwivedi et al, 2019a;Eremia, 2020;Franklin, 1930;Hanrahan, 2014;He et al, 2013;Hertel, 2017;Komakula, 2019;Langston, 2015;2016;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;…”

The current stage in aerospace at the end of 2020

“…However, things are not so hopeless. The most promising projects in the field of aeronautics are described below, demonstrating that the development of aviation continues (García, 2020;Rana, 2020;Garfo et al, 2020;Kumar & Sreenivasulu, 2019;Mishra & Sarawagi, 2020;Welabo & Tesfamariamr, 2020;Antonescu & Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2001;Aversa et al, 2017a;2017b;2016d;Ayiei, 2020;Brewer, 1991;Chilukuri et al, 2019;Cao et al, 2013;Dong et al, 2013;Saheed et al, 2019;Riman, 2019;Matthews & Sun Yi, 2019;Dwivedi et al, 2019 a-b;Eremia, 2020;Hanrahan, 2014;He et al, 2013;2008;Hertel, 2017;Komakula, 2019;Langston, 2015Langston, , 2016Lee, 2013;Lin et al, 2013;Liu et al, 2013;Padula & Perdereau, 2013;Perumaal & Jawahar, http://www.ijmp.jor.br v. 13, n. 1, January-march 2022ISSN: 2236…”