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Human Arm Inverse Kinematic Solution Based Geometric Relations and Optimization Algorithm
Mohammed Z. Al-Faiz, Abduladhem A.Ali, Abbas H.Miry
Pages - 245 - 255     |    Revised - 01-09-2011     |    Published - 05-10-2011
Volume - 2   Issue - 4    |    Publication Date - September / October 2011  Table of Contents
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KEYWORDS
Inverse Kinematic, Human Arm, Levenbrge Marquite
ABSTRACT
Kinematics for robotic systems with many degrees of freedom (DOF) and high redundancy are still an open issue. Namely, computation time in robotic applications is often too high to reach good solution, for parts of the kinematic chain; the problem of inverse kinematics is not linear, as rotations are involved. This means that analytical solutions are only available in limited situations. In all other cases, alternative methods will have to be an employed.The most-used alternative is numerical solutions optimization. This paper presents a strategy based on combine’s analytical solutions with nonlinear optimization algorithm solutions to solution the IKP. A analytical solutions is used to reduce the size of problem from seven variable of joint angle to single variable and nonlinear optimization algorithm was used to find approximate solution which make the computation time is very small
CITED BY (7)  
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Dr. Mohammed Z. Al-Faiz
- Iraq
mzalfaiz@ieee.org
Dr. Abduladhem A.Ali
- Iraq
Dr. Abbas H.Miry
- Iraq