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



Research Interests: Robotics


Sankar Nath Shome a 1980 mechanical engineering graduate from Bengal Engineering College (Now IIEST), Shibpur, India received the MTech degree from IIT, Kanpur, India and the PhD degree in mechanical engineering from National Institute of Technology, Durgapur, India. He is working as a chief scientist at CSIR-CMERI, Durgapur and a professor in the engineering science faculty of AcSIR, India and acting as coordinator and dean of the academic unit at CSIR-CMERI, Durgapur. He initiated various programmes on intelligent robotics and successfully implemented several projects related to robotics. His areas of interest include robotics, mechanisms, control, motion planning and autonomous underwater vehicle technologies. Presently he is involved in the design and development of hybrid modular AUV with cooperative modules.

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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