Abstract
There are numerous methods for solving the inverse kinematic equations for a robotic arm. This paper proposes a novel, adaptive approach based on multiagent systems (MASS). An MAS employs a distributed, decentralized approach to problem solving that is not commonly employed in conventional robotic arm control. The MAS uses patterns abstracted from various configurations of the robotic arm to provide a means of solving inverse kinematic equations where there is a changing kinematic model. Such an approach is beneficial in applications such as the maintenance of power transmission lines, welding, and providing support to handicapped people. The method is demonstrated using a case study utilizing a six-degree-of-freedom Kawasaki FS02 industrial robotic arm. The results from the case study demonstrate a solution for 95 per cent of all attainable Cartesian coordinates.
Original language | English |
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Pages (from-to) | 127-135 |
Number of pages | 9 |
Journal | Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering |
Volume | 222 |
Issue number | 2 |
Early online date | 18 Mar 2008 |
DOIs | |
Publication status | Published - 18 Mar 2008 |
Keywords
- self-adjusting systems
- robot kinematics
- agents
- robotic manipulators
- industrial robots