Development of a six degree-of-freedom position and orientation sensing device: Design theory and testing

Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200 Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20 µm are observed. During standstill, the deviations are reduced to 5 µm.

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Kinematics Simulation of Gough-Stewart Parallel Manipulator by Using Simulink Package in Matlab Software

Journal of University of Babylon for Engineering Sciences ◽

10.29196/jubes.v27i2.2289 ◽

2019 ◽

Vol 27 (2) ◽

pp. 10-20

Author(s):

Hassan Mohammed Alwan ◽

Riyadh Ahmed Sarhan

Keyword(s):

Theoretical Model ◽

Parallel Manipulator ◽

Degree Of Freedom ◽

Kinematics Analysis ◽

Matlab Software ◽

Kinematics Simulation ◽

Moving Platform ◽

Position And Orientation ◽

Six Degree Of Freedom ◽

Forward Equations

The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation). In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths. This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion. The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.

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Structural Parameters Which Reduce the Number of Manipulator Configurations

22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems ◽

10.1115/detc1992-0235 ◽

1992 ◽

Author(s):

Constantinos Mavroidis ◽

Bernard Roth

Keyword(s):

General Class ◽

Inverse Kinematics ◽

Structural Parameters ◽

Degree Of Freedom ◽

Characteristic Polynomials ◽

End Effector ◽

Lower Maximum ◽

Position And Orientation ◽

Six Degree Of Freedom

Abstract The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution In the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

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Spatially continuous six degree of freedom position and orientation sensor

Sensor Review ◽

10.1108/02602289910266142 ◽

1999 ◽

Vol 19 (2) ◽

pp. 106-112 ◽

Cited By ~ 27

Author(s):

Lee Danisch ◽

Kevin Englehart ◽

Andrew Trivett

Keyword(s):

Degree Of Freedom ◽

Orientation Sensor ◽

Position And Orientation ◽

Six Degree Of Freedom

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Accurate Motion of a Robot End-Effector Using the Curvature Theory of Ruled Surfaces

Journal of Mechanisms Transmissions and Automation in Design ◽

10.1115/1.3258934 ◽

1988 ◽

Vol 110 (4) ◽

pp. 383-388 ◽

Cited By ~ 7

Author(s):

B. S. Ryuh ◽

G. R. Pennock

Keyword(s):

Trajectory Planning ◽

Interpolation Method ◽

Ruled Surface ◽

Degree Of Freedom ◽

End Effector ◽

Straight Path ◽

Curvature Theory ◽

Position And Orientation ◽

Six Degree Of Freedom ◽

Differential Properties

In robotics, there are two methods of trajectory planning: the joint interpolation method which is appropriate for fast transition of the robot end-effector; and the cartesian interpolation method which is appropriate for slower motion of the end-effector along straight path segments. Neither method, however, is sufficient to allow a smooth, differentiable, transition of position and orientation of the end-effector. In this paper, we propose a method of trajectory planning that will permit more accurate motion of a robot end-effector. The method is based on the curvature theory of a ruled surface generated by a line fixed in the end-effector, referred to as the tool line. The orientation of the end-effector about the tool line is included in the analysis to completely describe the six degree-of-freedom motion of the end-effector. The linear and angular properties of motion of the end-effector, determined from the differential properties of the ruled surface, are utilized in the trajectory planning.

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Structural Parameters Which Reduce the Number of Manipulator Configurations

Journal of Mechanical Design ◽

10.1115/1.2919373 ◽

1994 ◽

Vol 116 (1) ◽

pp. 3-10 ◽

Cited By ~ 29

Author(s):

C. Mavroidis ◽

B. Roth

Keyword(s):

General Class ◽

Inverse Kinematics ◽

Structural Parameters ◽

Degree Of Freedom ◽

Characteristic Polynomials ◽

End Effector ◽

Lower Maximum ◽

Position And Orientation ◽

Six Degree Of Freedom

The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution in the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P, and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

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