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Inverse Kinematics and Trajectory Planning of 5 DoF Scorbot-ER Vplus
This paper presents the inverse kinematics and trajectory planning of 5 DoF Scorbot-ER Vplus. Inverse kinematics of the manipulator is computed by using Iterative method. Damped least square (DLS) is an iterative method used to decrease the instability of manipulator near singularity condition. The formulation of inverse kinematics and trajectory planning is programmed using MATLAB\Simulink. Simulation of the manipulator is done by applying MATLAB Simscape Multibody module and importing the 3D model, designed in PTC CREO.
Keywords- Inverse kinematics, Scorbot-ER Vplus, Jacobian matrix, Damped least square method, Trajectory Planning
Unique Identification Number - IJEDR2003065Page Number(s) - 442-449Pubished in - Volume 8 | Issue 3 | August 2020DOI (Digital Object Identifier) -    Publisher - IJEDR (ISSN - 2321-9939)
Cite this Article
Rajsinh Jhala,   "Inverse Kinematics and Trajectory Planning of 5 DoF Scorbot-ER Vplus"
, International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.8, Issue 3, pp.442-449, August 2020, Available at :http://www.ijedr.org/papers/IJEDR2003065.pdf