Design of Pseudoinverse Method for Robotic Arm

Authors

  • Ondrej Hock University of Zilina Žilina
  • Jozef Sedo University of Zilina Žilina

DOI:

https://doi.org/10.14311/TEE.2018.3.055

Abstract

Pseudoinverse method for control end-effector movement of a robotic arm is presented in this paper. For that task we used the robotic arm DOBOT. We made simulation model in Matlab environment and SimMechanics toolbox. We described the pseudoinverse method and problem-solving of pseudoinverse for non-square matrices. In the near future we will make implementation of this method to the control end-effector movement of a robotic arm and therefore we created a simulation to how many digits we will need for correct calculating of goniometric functions in DSP

Author Biographies

Ondrej Hock, University of Zilina Žilina

Department of Mechatronics and Electronics,

Faculty of Electrical Engineering

Jozef Sedo, University of Zilina Žilina

Department of Mechatronics and Electronics,

Faculty of Electrical Engineering

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Published

2020-03-30

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