Iterative Method for Solving the Inverse Kinematics Problem of Multi-link Robotic Systems with Rotational Joints

2019 ◽  
pp. 237-251 ◽  
Author(s):  
Roman Iakovlev ◽  
Alexander Denisov ◽  
Ryhor Prakapovich
Keyword(s):  
Iterative Method ◽  
Inverse Kinematics ◽  
Robotic Systems ◽  
Inverse Kinematics Problem

Inverse Kinematics Analysis of 5-DOF Robot Manipulators Based on Virtual Joint Method

2011 ◽  
Vol 143-144 ◽  
pp. 265-268
Author(s):  
Zhi Zhong Liu ◽  
Hong Yi Liu ◽  
Zhong Luo
Keyword(s):  
Iterative Method ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematics Analysis ◽  
One Dimensional ◽  
Closed Form Solutions ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Joint Method

To solve the inverse kinematics problem of a robot manipulator without closed form solutions, one-dimensional iterative method is very useful. However, for a 5-DOF robot manipulator, because of the uncontrolable and uncertain orientation vectors, it's difficult to analytically express all joint variables by one of them, therefore one-dimensional iterative method can not be directedly used. By adding an appropriate virtual joint to it, a 5-DOF manipulator can be changed into a 6-DOF one so that the uncertain orientation vectors can be pre-given, and the difficulty is solved. To illustrate this virtual joint method a 5-DOF serial robot manipulator with prismatic arm joint and offset wrist is discussed in this paper as an example.

scholarly journals Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2558
Author(s):  
Mario Troise ◽  
Matteo Gaidano ◽  
Pierpaolo Palmieri ◽  
Stefano Mauro
Keyword(s):  
Preliminary Analysis ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Dynamic Models ◽  
Robotic Systems ◽  
Inflation Pressure ◽  
Space Applications ◽  
Space Industry ◽  
Rigid Body Model ◽  
Soft Manipulator

The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

scholarly journals Study on the Inverse Kinematics Problem of Robot (2nd Report)

1997 ◽  
Vol 63 (5) ◽  
pp. 699-703
Author(s):  
Xiaohai JIN ◽  
Sachio SHIMIZU ◽  
Nobuyuki FURUYA
Keyword(s):  
Inverse Kinematics ◽  
Inverse Kinematics Problem

scholarly journals Cerebellum-inspired neural network solution of the inverse kinematics problem

2015 ◽  
Vol 109 (6) ◽  
pp. 561-574 ◽  
Author(s):  
Mitra Asadi-Eydivand ◽  
Mohammad Mehdi Ebadzadeh ◽  
Mehran Solati-Hashjin ◽  
Christian Darlot ◽  
Noor Azuan Abu Osman
Keyword(s):  
Neural Network ◽  
Inverse Kinematics ◽  
Network Solution ◽  
Inverse Kinematics Problem

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

scholarly journals A comparative study of soft computing methods to solve inverse kinematics problem

2018 ◽  
Vol 9 (4) ◽  
pp. 2535-2548 ◽  
Author(s):  
Ahmed El-Sherbiny ◽  
Mostafa A. Elhosseini ◽  
Amira Y. Haikal
Keyword(s):  
Comparative Study ◽  
Soft Computing ◽  
Inverse Kinematics ◽  
Computing Methods ◽  
Inverse Kinematics Problem ◽  
Soft Computing Methods

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

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