S.K Das

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



Research Interests: Robotics, Software Development Process


Subhra Kanti Das West Bengal, India, Scientist received the Bachelor of Engineering in Computer Science and Engineering from University of Kalyani, West Bengal, India in 2004. He is a PhD scholar at department of CSE in University of Jadavpur, West Bengal, India. His research interests include probabilistic measures towards navigation and localization of underwater mobile robotic systems, and application of AI techniques in development of control software architecture.

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: https://doi.org/10.5815/ijem.2015.02.03, 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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