Final Year Project

Project Title

Inverse Kinematics of a Serial Link Manipulator

Description

Serial Link Manipulators or Robots are widely used in industry for tasks such as the assembly of various parts, painting, inspections, etc. One such manipulator is even used as an attachment to NASA Space Shuttle for assembly of the Space Station, repairs, deployment and retrieval of satellites, and other tasks. Serial Link Manipulators typically have six or more limbs in order to control the position and orientation of their end-effector (hand). The inverse kinematics problem is to calculate the joint angles so that the hand of the manipulator is at a desired position in space in a desired orientation. Generally, it is a difficult problem and requires a lot of computation. We propose a new method which combines pre-computed data with real-time computation for faster computation of inverse kinematics. This is a joint project with Zeerak Ullah Khan.