Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom

1989 ◽  
pp. 139-143
Author(s):  
P. S. Dutta ◽  
Tin-Lup Wong
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Moving Base ◽  
Inverse Kinematic Analysis

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
Özgün Selvi
Keyword(s):  
Kinematic Analysis ◽  
Decomposition Method ◽  
Degrees Of Freedom ◽  
Additional Data ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Workspace Analysis ◽  
Inverse Kinematic Analysis ◽  
Inverse Velocity

SUMMARY Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.

Design and kinematic analysis of a novel rehabilitative robotic walking simulation device

2021 ◽  
pp. 095441192110065
Author(s):  
Kemal Cem Kose ◽  
M Kemal Ozgoren ◽  
Ferzende Tekce ◽  
Nimeti Doner
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Step Length ◽  
Healthy Person ◽  
Inverse Kinematic ◽  
Reference Trajectory ◽  
Trajectory Data ◽  
Inverse Kinematic Analysis

This paper presents an original rehabilitative robotic walking simulation device. As a novel feature, it can duplicate the walking motion of the feet completely by including the motion of the metatarsophalangeal joints as well. It is also adjustable to different foot sizes and gait parameters such as speed, step length, and foot elevation. The presented device comprises two identical mechanisms that simulate the right and left feet. Each mechanism is designed as a planar parallel manipulator with three degrees of freedom and thus its platform (i.e. foot plate) can duplicate the sagittal-plane motion of a foot completely. A prototype of the device is already built, patented, and tested by several people, two of whom are physiotherapists. In the paper, the inverse and forward kinematic analyses of each parallel manipulator are also presented. The inverse kinematic analysis is carried out based on a typical gait cycle data of a healthy person gathered from the related literature. The results of the inverse kinematic analysis are then used as reference trajectory data in testing the device with different healthy people at different speeds.

Inverse Kinematic Analysis of Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 24 ◽  
pp. 77-81 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Design Verification ◽  
Simulation Tools ◽  
Analysis And Design ◽  
Link Mechanism ◽  
Inverse Kinematic Analysis ◽  
Verification Process ◽  
Process Computer ◽  
Functional Prototype

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

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