The study presents advances in the kinematics of robotic manipulators by combining Pseudoinverse Jacobian techniques and Bézier curves
The article "SCORBOT Arm Control Using Pseudoinverse Jacobian Control for Bézier Path", published by teachers Fernando Duarte and Luís Pires da School of Engineering and Technology (EET), addresses the fundamental challenges of kinematics in robotics, such as the transition between Cartesian and combinatorial spaces.
This work focuses on the fundamental challenges of manipulator kinematics, with a particular emphasis on the SCORBOT ER-V plus, a robotic manipulator widely used in educational and research contexts. The article introduces an innovative method based on Pseudoinverse Jacobian control, combined with trajectories defined by Bézier curves.
This model allows a rigorous analysis of the manipulator's spatial movements, offering new possibilities for optimising its performance and precision. The experiment also used the Python to develop a mathematical model that proved results in line with real measurements of the manipulator.
By combining direct and inverse modelling, the study shows how differential techniques make it possible to characterise robotic movements with high precision, reinforcing the importance of this method in the analysis of manipulators 5-Degree-Of-Freedom (5DOF).
