Solution of Inverse Kinematic Problem of a 2DOF Robot Using Decomposition Method

Subject Areas : Statistics

Gh  Asadi-Cordshooli ¹ (Department of Physics, College of Science, Yadegar-e-Emam Khomeyni (RAH) Shahr-e-Rey Branch, Islamic Azad University, Tehran, Iran)
A.  Vahidi ² (Department of Mathematics, College of Science, Yadegar-e-Emam Khomeyni (RAH) Shahr-e-Rey Branch, Islamic Azad University, Tehran, Iran Corresponding author)
R.  Norouzi ³ (Department of Physics, College of Science, Yadegar-e-Emam Khomeyni (RAH) Shahr-e-Rey Branch, Islamic Azad University, Tehran, Iran)

Received: 2015-06-15 Accepted : 2015-11-16 Published : 2015-03-21

Keywords: سینماتیک معکوس, بازوی روبات, دو درجه‌ی آزادی, روش تجزیه‌ی آدومین,

Abstract :

The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to desired order. The solutions haven’t any singularity.The problem must be solved once for any structure and the results can be used for any pathand finally, the method is fast and simple to understand

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