Journal of Electrical Engineering : Volume 19 / 2019 - Edition : 2

KINEMATIC ANALYSIS OF PLANAR ROBOTS USING ARTIFICIAL INTELLIGENCE BASED EXTENDED JACOBIAN

Authors:
T Raja Prathab
R Suja Mani Malar
T Ahilan
Domain:
building electrification
Abstract:
In the recent years,industrial robots are remodeling fabricating industriesas it is used for automatic working in various applications, specifically soldering, packaging, stacking, and machine parts installation. Particularly, planar robots, a typical optimal form of robot which is impacted in standard Cartesian plane is used for high efficiency and productivity. As working like human arm, it is connected in series with stable divisions and connectors. However, the position of any one end of robot arm is fixed, whereas the other arm of the robot travels through the Cartesian plane by changing the structure of arm joints. The manipulator with absence of design and fault tolerant task is analytical for remote applications and risk conditions as theperiodic management and developments are not available.Generally, the most advanced architecture and working flexibility of robots possessnovel probability and development in a large scale of manufacture process. Accordingly, this paper proposes inverse kinematic analysis of PUMA 560 robotic arm to achieve long range of fault tolerance. In the proposed work Jacobian is combined with the Firefly algorithm to determinethe inverse kinematics forredundant robots
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