Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

American Journal of Engineering and Applied Sciences, Volume 10, Issue 2, Pages 394-411, 2017; DOI: 10.3844/ajeassp.2017.394.411

18 Pages Posted: 10 Jun 2019 Last revised: 2 Jul 2019

See all articles by Relly Victoria Petrescu

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design

B. Akash

American University of Ras Al Khaimah

Ronald Bucinell

Union College

Juan Corchado

University of Salamanca

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Date Written: November 19, 2017

Abstract

A robot is a machine especially programmable one through a computer capable of performing a complex series of actions in the automatic mode. Robots may be guided by a control device or external control may be incorporated in the inside. Robots can be built to take human form, but most robots are machines designed to perform a task without taking into account the manner in which it looks. The branch of the technology which is concerned with the design, construction, operation and application of robots, as well as other information systems for their control, the feedback of the touch screen and processing information is quite robotic. These technologies do with automatic machine, which may take the place of the people in hazardous environments or manufacturing processes, or looks like people in appearance, behavior and/or cognitive. Many of the robots of today are inspired by nature which contributes to the field of robotics bio-inspired by it. These robots have created a new branch of robotic (robotic soft). From the time of the ancient civilization there have been many accounts of devices user-configurable automatic and even similar to automatic and people, intended primarily as entertainment. As the mechanical techniques developed by the era of industrial, there were several practical applications, such as automatic machine, remote control and wireless remote control included. Anthropomorphic robots have in their component a plane structure 2R, which is a basic structure. In the reverse (inverse) kinematic, are known the kinematic parameters xM and yM, which represents the co-ordinates of scaling point M (endeffector M) and must be determined by analytical calculation the parameters ϕ20 and ϕ30. First, it determines the intermediary parameters, d and φ with relations (1). For the purpose of determining angles can be used various methods (trigonometric, geometric, etc.), of which will be presented below one of them (as the most representative): A trigonometric method.

Note: © 2017 Relly Victoria V. Petrescu, Raffaella Aversa, Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, Antonio Apicella and Florian Ion T. Petrescu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

Suggested Citation

Petrescu, Relly Victoria and Aversa, Raffaella and Akash, B. and Bucinell, Ronald and Corchado, Juan and Apicella, Antonio and Petrescu, Florian Ion, Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method (November 19, 2017). American Journal of Engineering and Applied Sciences, Volume 10, Issue 2, Pages 394-411, 2017; DOI: 10.3844/ajeassp.2017.394.411 . Available at SSRN: https://ssrn.com/abstract=3074094

Relly Victoria Petrescu (Contact Author)

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

B. Akash

American University of Ras Al Khaimah ( email )

American University of Ras Al Khaimah
School of Graduate Studies and Research
Ras Al Khaimah, RAK 10021
United Arab Emirates

HOME PAGE: http://www.aurak.ac.ae

Ronald Bucinell

Union College ( email )

Schenectady, NY 12308-3151
United States

Juan Corchado

University of Salamanca ( email )

Campus Miguel de Unamuno
ES-37007 Salamanca, Salamanca 23007
Spain

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

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