Analysis And Validation Of An Industrial Robot Manipulator
Bibhuti Choudhury2022
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Abstract
Due to nonlinearity and multiple solutions, it is quite complicated to analyze the inverse kinematics of a 6-DOF industrial robot. There is no distinctive solution for an inverse kinematic; hence a number of predictive approaches are adopted to solve the problem. The conventional method like Jacobin transformation is used to get the closed form solution of joint angles. The ANN and fuzzy logic are applied to a number of models to solve the inverse kinematic problem. The higher degree of polynomial solution does not solve by these methods. To overcome the conventional technique problem, any more optimization approaches are applied. The ANN and fuzzy logic shows more convergence to words the acceptable solution. Here 6-DOF industrial robot is designed and the joint angles are simulated with the robo analyzer method.
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