A Full Analytical Solution to the Direct and Inverse Kinematics of the Pentaxis Robot Manipulator

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Published: Dec 30, 2014
Keywords:
Kinematics, Robot Manipulator, 5-DOF, ROS

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Moisés Estrada Castañeda
Luis Tupak Aguilar Bustos
Luis A. González Hernández

Abstract

In this paper, the kinematics of a 5-DOF robot manipulator was obtained. The direct kinematics was presented using the Denavit-Hartenberg convention and method. The inverse kinematics was obtained analytically and all possible solutions were found for each joint. The kinematic solution was verified experimentally by programming a kinematic solver for the MoveIt! ROSr platform.

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How to Cite
Estrada Castañeda, M., Aguilar Bustos, L. T., & González Hernández, L. A. (2014). A Full Analytical Solution to the Direct and Inverse Kinematics of the Pentaxis Robot Manipulator. Difu100ci@, Revista De difusión científica, ingeniería Y tecnologías, 8(2), 27-32. Retrieved from http://difu100cia.uaz.edu.mx/index.php/difuciencia/article/view/136
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Vol 8 No 2 (2014): Difu100ci@, Revista de difusión científica, ingeniería y tecnologías
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Articles