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S.S. Roy

Work place: Mechanical Engineering Department, National Institute of Technology, Durgapur, 713209 India

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Research Interests: Models of Computation, Logic Circuit Theory, Analysis of Algorithms, Neural Networks

Biography

Shibendu Shekhar Roy received his B.E and M.Tech degrees in Mechanical Engineering from R.E. College, Durgapur in 1999 and 2001, respectively. He obtained his Ph.D from IIT, Kharagpur, India, in 2011. Currently, He is an Associate Professor in the Department of Mechanical Engineering, National Institute of Technology, Durgapur, India. He has published a great deal of research papers at national and international journals, conference proceedings, book chapters and filed number of patents in product development. He has written a book on “Modeling and analysis of six-legged robots”, which has been published by Lap Lambert Academic Publishing GmbH & Co. KG, Germany. His current research interests include application of computational intelligent tools like Fuzzy logic, Genetic algorithm, Neural networks etc for modelling of different manufacturing process and robotic systems.

Author Articles
Inverse Kinematics of Redundant Manipulator using Interval Newton Method

By Virendra Kumar Soumen Sen S.S. Roy S.K Das S.N.Shome

DOI: https://doi.org/10.5815/ijem.2015.02.03, Pub. Date: 8 Aug. 2015

The paper presents an application of Interval Newton method to solve the inverse kinematics and redundancy resolution of a serial redundant manipulator. Such inverse problems are often encountered when the manipulator link lengths, joint angles and end-effector uncertainty bounds are given, which occurs due to because of inaccuracies in joint angle measurements, manufacturing tolerances, link geometries approximations, etc. The inverse kinematics of three degree of freedom planar redundant positioning manipulator without end-effector has been evaluated using the manipulability of Jacobian matrix as performance metric. To solve the nonlinear equation of inverse kinematics, the multidimensional Newton method is used. The inverse kinematics is intended to produce solutions for joint variables in interval of tolerances for specified end effector accuracy range. As exemplar problem solving, a planar 3-degrees-of-freedom serial link redundant manipulators is considered.

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