SCRS Conference Proceedings on Intelligent Systems
Link Folding algorithm (LFA) for Inverse Kinematics of an Industrial Robot.
Authors: Tiruvidula Eswara Rao1 and Nalluri Mohan Rao
Publishing Date: 25-04-2022
ISBN: 978-93-91842-08-6
Abstract
The present work aims to depict computationally efficient, model free, singularity free, generalized, non-iterative, single pass, and exact Link Folding (LF) Algorithm to tackle inverse kinematics (IK) problem. This paper presents a ‘single scan’ numerical algorithm conceived from geometric method to offer suitable IK solution for the robots coordinated and controlled by low resource controllers like Arduino Uno. This approach will reduce computational complexities of the methods like cyclic coordinate descending (CCD) algorithm and target triangle (TT) algorithm. An IK solution is guaranteed when the position to be reached is in robots’ workspace and for kinematic structures with unconstrained joints. The method does not require forward kinematics model which is being used in majority of the inverse kinematic solution methods. Test results are provided and analyzed to illustrate the performance improvements of the presented algorithm over the other geometric methods. For algorithm development MATLAB was used, verified in custom built simulator developed by authors, and validated with prototype built and controlled using Arduino.
Keywords
Inverse Kinematics (IK), Geometric method, Link Folding Algorithm (LFA), cyclic coordinates descending (CCD) Algorithm, Target triangle (TT) Algorithm.
Cite as
Tiruvidula Eswara Rao1 and Nalluri Mohan Rao, "Link Folding algorithm (LFA) for Inverse Kinematics of an Industrial Robot.", In: Raju Pal and Praveen Kumar Shukla (eds), SCRS Conference Proceedings on Intelligent Systems, SCRS, India, 2022, pp. 359-369. https://doi.org/10.52458/978-93-91842-08-6-36