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Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics

Published online by Cambridge University Press:  23 November 2005

S. Bulut  and
M. B. Terzioǧlu
S. Bulut
Affiliation:
Cumhuriyet University, Mechanical Engineering Department, 58140, Sivas e-mail: sbulut@cumhuriyet.edu.tr
M. B. Terzioǧlu
Affiliation:
Cumhuriyet University, Mechanical Engineering Department, 58140, Sivas e-mail: sbulut@cumhuriyet.edu.tr
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Abstract

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In this paper, the joint angles of a two link planar manipulator are calculated by using inverse kinematics equations together with some geometric equalities. For a given position of the end-effector the joint angle and angular velocity of the links are derived. The analyses contains many equations which have to be solved. However, the solutions are rather cumbersome and complicated, therefore a program is written in Fortran 90 in order to do, the whole calculation and data collection. The results are given at the end of this paper.

Keywords

Two link planar manipulatorInverse kinematicsJoint anglesAngular velocityForward kinematics
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 355 - 363
Copyright
2005 Cambridge University Press