Closed-form solution for direct and inverse kinematic models of a parallel manipulator for robotic orbital welding

2020 ◽  
Vol 42 (1) ◽  
Author(s):  
Eduardo José Lima ◽  
Henrique Augusto de Matos Souza ◽  
Kassio Maciel Kienitz ◽  
Frederico Allevato Ramalho Filho
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Orbital Welding ◽  
Kinematic Models

Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators

1992 ◽  
Vol 114 (3) ◽  
pp. 438-443 ◽  
Author(s):  
B. Padmanabhan ◽  
V. Arun ◽  
C. F. Reinholtz
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Practical Importance ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Variable Geometry ◽  
Inverse Kinematic Problem ◽  
Inverse Kinematic Analysis ◽  
Variable Geometry Truss

A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.

scholarly journals A closed-form solution for the position analysis of a novel fully spherical parallel manipulator – ERRATUM

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1137-1137
Author(s):  
Javad Enferadi ◽  
Amir Shahi
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Mechanical Engineering ◽  
Closed Form Solution ◽  
Form Solution ◽  
Position Analysis ◽  
Spherical Parallel Manipulator

There was an error in the spelling of the author's affiliation. Where the affiliation read “Department of mechanical engineering, Mashad Branch, Islamic Azad University, Mashad, Iran” it should instead have read “Department of mechanical engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran”.The publisher regrets this error.

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

2013 ◽  
Vol 455 ◽  
pp. 533-538
Author(s):  
Edris Farah ◽  
Shao Gang Liu
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Surgical Robot ◽  
Decoupling Method ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

Dual quaternion-based inverse kinematics of the general spatial 7R mechanism

2008 ◽  
Vol 222 (8) ◽  
pp. 1593-1598 ◽  
Author(s):  
D Gan ◽  
Q Liao ◽  
S Wei ◽  
J S Dai ◽  
S Qiao
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Dual Quaternion ◽  
Whole Process ◽  
Inverse Kinematic Analysis ◽  
Angular Displacements ◽  
Output Equation ◽  
Theoretical Results

The theory of dual quaternion and its use in serial mechanisms are described in this paper. A closed-form solution to the inverse kinematic analysis of the general 7-link 7R mechanism is presented. Dixon's resultant is used and the input—output equation is expressed in the form of a 6×6 determinant equated to zero, and the formulae to determine other angular displacements are expressed in the closed form. Numerical example confirms these theoretical results. The whole process is very simple and easy to program, which supplies a new method for the real use of the 7R mechanism.

Design and Construction of a Statically-Balanced Direct Drive ARM

1987 ◽  
Author(s):  
H. Kazerooni ◽  
S. Kim
Keyword(s):  
Closed Form ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Direct Drive ◽  
University Of Minnesota ◽  
Closed Form Solutions ◽  
The University

Abstract A statically-balanced direct drive robot manipulator is being constructed at the University of Minnesota for analysis of manufacturing tasks such as deburrlng and grinding when Impedance Control (8, 10, 11) is used to control the robot. This mechanism using a four bar linkage is designed without extra counterweights. As a result of elimination of the gravity forces on the drive system, smaller actuators (and consequently smaller amplifiers) are chosen to guarantee the acceleration of about 5g without overheating the motors. This mechanism results in closed-form solution for Inverse kinematics. The closed-form solutions for dynamic and Inverse kinematic have been derived. High torque, low speed brush-less AC synchronous motors are used to power the robot. The relatively “large” workspace of this configuration is suitable for manufacturing tasks. Graphite epoxy composite material is being used for the construction of the robot links.

scholarly journals Jerk analysis of a module of an artificial spine by means of screw theory

2009 ◽  
Vol 7 (03) ◽  
Author(s):  
J. Gallardo-Alvarado ◽  
R. Lesso-Arroyo
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Closed Form Solution ◽  
Form Solution ◽  
Displacement Analysis

In this work, a novel parallel manipulator is introduced with the purpose of simulating the jerk analysis of the end of the spine.The displacement analysis is presented in a semi-closed form solution whereas the velocity, acceleration and jerk analyses are carried out by means of the theory of screws.

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