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Inverse kinematics analysis of a 5-Axis RV-2AJ robot manipulator

Ayob, Mohammad Afif and Wan Zakaria, Wan Nurshazwani and Jalani, Jamaludin and Md Tomari, Mohd Razali (2015) Inverse kinematics analysis of a 5-Axis RV-2AJ robot manipulator. In: International Conference on Electrical and Electronic Engineering 2015 (IC3E 2015), 10-11 August 2015, Melaka, Malaysia.

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This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is defined as the transformation from the robot’s end-effector Cartesian space to the joint angle of the robotic arms. An analytical solution using trigonometry illustration is presented to describe the relation between the position of the robot endeffector to each of the robot joints. Several lab experiments to validate the established kinematics equations have been conducted. In this study, the developed kinematics solutions were found to be accurate to approximately 99.83% compared to the real robot. These findings have significant implication for developing a kinematic simulation model that can be used to evaluate position and force control algorithm.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: inverse kinematics; Mitsubishi Melfa RV-2AJ; pythagoras’s theorem
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Electrical Technology
Depositing User: Normajihan Abd. Rahman
Date Deposited: 29 Oct 2015 06:24
Last Modified: 29 Oct 2015 06:24
URI: http://eprints.uthm.edu.my/id/eprint/7149
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