Abstract
This paper considers the anthropomorphic manipulator kinematics modeling problem. The considered anthropomorphic robot SAR-400 manipulator with five-fingered gripper has twelve degrees of freedom. In the paper the robot SAR-400 arm kinematic model and the simulation results are presented.
Highlights
From a mechanical point of view, like a human arm, the anthropomorphic robot arm is a kinematically redundant object [1]
Kinematic redundancy leads to the abilities for robot manipulator to perform the end effector translation to a given position by an infinite number of trajectories
There are a number of other approaches, including those based on the fuzzy logic use to solve the inverse kinematics problem [6, 7], but the gradient method is the most commonly used method for avoiding the constraints of mechanical joints when forming manipulator trajectory [1,2,3,4]
Summary
From a mechanical point of view, like a human arm, the anthropomorphic robot arm is a kinematically redundant object [1]. Kinematic redundancy leads to the abilities for robot manipulator to perform the end effector translation to a given position by an infinite number of trajectories. Such redundant manipulators have increased maneuverability and allow the manipulators to avoid falling into singular states and can be effectively used in complex space-limiting areas [1,2,3,4]. There are a number of other approaches, including those based on the fuzzy logic use to solve the inverse kinematics problem [6, 7], but the gradient method is the most commonly used method for avoiding the constraints of mechanical joints when forming manipulator trajectory [1,2,3,4].
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