Soumen Sen

Work place: Robotics & Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, 713209 India



Research Interests: Robotics


Soumen Sen is working as Principal Scientist at CSIR-Central Mechanical Engineering Research Institute, Durgapur, India since September, 2011. He obtained his Ph.D. in Automation, Robotics, and Bioengineering from the University of Pisa, Italy in 2009. Before his PhD work, Soumen Sen served Department of Atomic Energy, Government of India, from 1994 to 2005 in the Centre for Advanced Technology, Indore and subsequently, in Bhabha Atomic Research Centre, Mumbai. He obtained his Master’s degree in Production Technology in 1994 and Bachelor’s degree in Mechanical Engineering in 1992. His research activities include variable stiffness/impedance actuation, flexible joint robots, exoskeletons and prostheses, robot design, control and manipulation, underwater manipulation, biomimetic actuators and fin actuation and control.

Author Articles
Inverse Kinematics of Redundant Manipulator using Interval Newton Method

By Virendra Kumar Soumen Sen S.S. Roy S.K Das S.N.Shome

DOI:, Pub. Date: 8 Aug. 2015

The paper presents an application of Interval Newton method to solve the inverse kinematics and redundancy resolution of a serial redundant manipulator. Such inverse problems are often encountered when the manipulator link lengths, joint angles and end-effector uncertainty bounds are given, which occurs due to because of inaccuracies in joint angle measurements, manufacturing tolerances, link geometries approximations, etc. The inverse kinematics of three degree of freedom planar redundant positioning manipulator without end-effector has been evaluated using the manipulability of Jacobian matrix as performance metric. To solve the nonlinear equation of inverse kinematics, the multidimensional Newton method is used. The inverse kinematics is intended to produce solutions for joint variables in interval of tolerances for specified end effector accuracy range. As exemplar problem solving, a planar 3-degrees-of-freedom serial link redundant manipulators is considered.

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