Ruiz-Carrión, Iván

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Performance comparison between inverse kinematic algorithms on 6R robotic manipulators
(2013) Ruiz-Carrión, Iván; Rosario, Lourdes M.; College of Engineering; Valentín, Ricky; Dooner, David; Department of Mechanical Engineering; Macchiavelli, Raul
One of the most important aspects of controlling a robotic manipulator is the solution of its Inverse Kinematics problem. Numerical methods, although more computationally challenging than algebraic or geometric methods, are more flexible and are easier to implement once the geometry of the manipulator becomes too complex. Algorithms that exploit these numerical methods are often programmed into a robot to solve the inverse kinematics problems in real‐time. In this study, the performances of two different algorithms that solve the inverse kinematic problem for a 6R manipulator are compared; the Modified Davidon Fletcher Powell (MDFP) and the Newton Raphson (NR) algorithms were programmed using MatLab7.5. The time needed to solve the problem and the precision of the result were measured. Both algorithms were executed on an AMD Turion 64 X2/ 2.2GHz and an Intel(R) Core(tm) Duo CPU P8400 @ 2.26GHz 2.27GHz processor environment in order to compare the effect of processor architecture on the algorithm’s performance. It was determined that the MDFP was faster to reach a result than the NR, and that the NR provided greater result precision than the MDFP. This behavior was observed in both processor architectures.