Simulation of the Inverse-Kinematics for JACO Manipulator Robot Arm

Authors

  • Salih Rashid Majeed PhD student Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany
  • Klause D Kuhnert Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany

DOI:

https://doi.org/10.37628/ijra.v1i1.128

Abstract

The inverse kinematics is a very important issue in the automation of robotic manipulator. This paper deals with inverse kinematics (IK) in the simulation process, using “JACO” robotic arm and studies about the implementation of IK in a very simple manner, using BLENDER software. In this program, we simulated IK based on the relationship between the bones and the skin in natural life, making use of some options included in the program. Keywords: inverse kinematics, BLENDER, JACO robot arm, Morse

Author Biographies

  • Salih Rashid Majeed, PhD student Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany
    PhD student Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany
  • Klause D Kuhnert, Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany
    Mechatronics & Robotic Engg. Institut für Echtzeit Lernsysteme (real time learning system), Universität Siegen, HA4105, Holderlin Str. 3, 57076 Siegen Germany

References

Monzani J.-S., Baerlocher P., Boulic R., et al. Using an Intermediate Skeleton and Inverse Kinematics for Motion Retargeting, Eurographics. 2000; 19(3).

Grochow K., Martin S.L., Hertzmann A., et al. Style-based inverse kinematics ACM transactions on graphics (TOG), Proceedings of ACM SIGGRAPH 2004. Volume 23 Issue 3.

Der K.G., Sumner R.W., Popovíc R.W. Inverse kinematics for reduced deformable models, ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH 2006. Volume 25 Issue 3, July 2006. Computer Science and Artificial Intelligence Laboratory ETH Zurich, Massachusetts Institute of Technology.

Sumner R.W., Zwicker M., Gotsman C., et al. Mesh-Based Inverse Kinematics, appear in SIGGRAPH 2005. Computer Science and Articial Intelligence Laboratory Massachusetts Institute of Technology, Harvard University.

Aristidou A., Lasenby J. Technical Report Inverse Kinematics: a review of existing techniques and introduction of a new fast iterative solver September 2009, Available on: http://www.researchgate.net/publication/273166356.

Echeverria G., Lassabe N., Degroote A., et al.“Modular Open Robots Simulation Engine: MORSE Robotics and Automation (ICRA), 2011 IEEE International Conference. 2011.

https://www.openrobots.org/morse/doc/latest/what_is_morse.html.

http://www.blender.org.

“JACO Robot Arm” By admin on June 1, 2011, Robotic Magazine Available on http://www.roboticmagazine.com/robot-review/jaco-robot-arm-2.

Downloads

Published

2016-09-21

Issue

Vol. 1 No. 1 (2016)

Section

Articles