Yıl 2018, Cilt 2, Sayı 1, Sayfalar 27 - 32 2018-04-15

Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example

Tolgay Kara [1] , Ali Hussien Mary [2]

97 94

This paper presents a novel scheme for solving inverse kinematics problem (IKP) of a multi-link robotic manipulator. Important features of the proposed strategy are generality and simplicity regardless of the number of degrees of freedom (DOF) and geometry of the robot. The proposed method is a feedback strategy where the IKP solution is expressed as a dynamic control system whose goal is to maintain satisfactory trajectory tracking. As a simulation test to reveal the performance of proposed scheme, a four DOF Selective Compliance Assembly Robot Arm (SCARA) system is considered. Feedback law in proposed closed-loop solution method is selected as a combination of Sliding Mode Control (SMC) and Proportional-Derivative (PD) control for providing simplicity and robustness. Simulation results are used to show the efficacy of proposed IKP solution approach in comparison with commonly used neural networks (NN) based IKP solution method. Results reveal that proposed method yields the solution of IKP with satisfactory performance.

Inverse kinematics problem, Multi-link robotic manipulators, SCARA robot
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Birincil Dil en
Konular Mühendislik (Genel)
Dergi Bölümü Research Articles
Yazarlar

Yazar: Tolgay Kara (Sorumlu Yazar)
Kurum: University of Gaziantep
Ülke: Turkey


Yazar: Ali Hussien Mary
Ülke: Iraq


Bibtex @araştırma makalesi { iarej398942, journal = {International Advanced Researches and Engineering Journal}, issn = {}, eissn = {2618-575X}, address = {Dr. Ceyhun YILMAZ}, year = {2018}, volume = {2}, pages = {27 - 32}, doi = {}, title = {Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example}, key = {cite}, author = {Kara, Tolgay and Mary, Ali Hussien} }
APA Kara, T , Mary, A . (2018). Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example. International Advanced Researches and Engineering Journal, 2 (1), 27-32. Retrieved from http://dergipark.gov.tr/iarej/issue/34178/398942
MLA Kara, T , Mary, A . "Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example". International Advanced Researches and Engineering Journal 2 (2018): 27-32 <http://dergipark.gov.tr/iarej/issue/34178/398942>
Chicago Kara, T , Mary, A . "Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example". International Advanced Researches and Engineering Journal 2 (2018): 27-32
RIS TY - JOUR T1 - Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example AU - Tolgay Kara , Ali Hussien Mary Y1 - 2018 PY - 2018 N1 - DO - T2 - International Advanced Researches and Engineering Journal JF - Journal JO - JOR SP - 27 EP - 32 VL - 2 IS - 1 SN - -2618-575X M3 - UR - Y2 - 2018 ER -
EndNote %0 International Advanced Researches and Engineering Journal Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example %A Tolgay Kara , Ali Hussien Mary %T Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example %D 2018 %J International Advanced Researches and Engineering Journal %P -2618-575X %V 2 %N 1 %R %U
ISNAD Kara, Tolgay , Mary, Ali Hussien . "Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example". International Advanced Researches and Engineering Journal 2 / 1 (Nisan 2018): 27-32.