scholarly journals Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

2021 ◽  
Vol 343 ◽  
pp. 08004
Author(s):  
Mihai Crenganis ◽  
Alexandru Barsan ◽  
Melania Tera ◽  
Anca Chicea
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Inverse Kinematics ◽  
Geometric Approach ◽  
Correct Choice ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

scholarly journals Inverse kinematic and dynamic analysis of redundant measuring manipulator BKHN-MCX-04

2010 ◽  
Vol 32 (1) ◽  
pp. 15-26 ◽  
Author(s):  
Nguyen Van Khang ◽  
Nguyen Phong Dien ◽  
Nguyen Van Vinh ◽  
Tran Hoang Nam
Keyword(s):  
Dynamic Analysis ◽  
Experimental Measurement ◽  
Calculation Result ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Kinematics And Dynamics ◽  
Kinematic Redundancy ◽  
Geometric Tolerance ◽  
University Of Technology

This paper deals with the problem of inverse kinematics and dynamics of a measuring manipulator with kinematic redundancy which was designed and manufactured at Hanoi University of Technology for measuring the geometric tolerance of surfaces of machining components. A comparison between the calculation result and the experimental measurement is also presented.

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 2 — Dynamic Analysis

1987 ◽  
Author(s):  
R. A. Hart ◽  
N. D. Ebrahimi
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Kinetic Equations ◽  
Euler Method ◽  
Degree Of Freedom ◽  
Time Response ◽  
Robotic Vehicle

Abstract In Part 1 of this report, we described the overall objective of the investigation; that is, the formulation of a dynamic model for determining the time response of a multi-legged robotic vehicle traveling on a variable-topographic terrain. Specifically, we developed expressions for the joint variables, and their rates, which are essential for describing the system’s links orientations, velocities, and accelerations. This procedure enabled us to determine the kinematic quantities associated with the entire vehicular system in accordance with the Newton-Euler method. In the present paper, we formulate the kinetic equations for the multi-degree-of-freedom leg assemblies, the rigid wheels, and the platform of the vehicle to achieve the prescribed motion and corresponding configuration of the system.

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

Automated inverse-kinematics for robot off-line programming

Robotica ◽  
1994 ◽  
Vol 12 (1) ◽  
pp. 45-53 ◽  
Author(s):  
W.Edward Red ◽  
Shao-Wei Gongt
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Broad Class ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Lower Degree ◽  
Serial Robots ◽  
Automated Methods ◽  
Kinematic Solution

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-offreedom robots.

Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations

1995 ◽  
Author(s):  
Louis Perreault ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
General Procedure ◽  
Inverse Kinematic ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Inverse Kinematic Problem

Abstract This paper presents an algorithm for the solution of the inverse kinematics of a serial redundant manipulator with one (or more) locked joint(s). To this end, a general procedure is developed for the determination of the equivalent Denavit-Hartenberg parameters of a serial manipulator with locked joints. This procedure can be applied to any serial architecture. The solution of the inverse kinematic problem for the three cases which can arise is then addressed. An example of the application of the method to a SARCOS 7-DOF manipulator is also given.

Proper Smart Method of the Inverse Kinematic Problem

2015 ◽  
Vol 772 ◽  
pp. 455-460 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru ◽  
Niculae Mihai
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Iterative Approximation ◽  
Inverse Kinematic Problem ◽  
Space Curves ◽  
Inverse Kinematics Problem ◽  
Artificial Intelligence Algorithm ◽  
Pseudo Inverse

One of the most precise method solving the inverse kinematics problem in the redundant cases of the robots is the coupled method. The proposed method use the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). One precise solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible because the redundant solutions. In all these cases must be used the numerical iterative approximation, like the proposed method, with artificial intelligence algorithm. The paper describe all the steps in one case study to obtain the space circle curve in different planes by using one arm type robot and the proposed method. The errors of the space movement of the robot end-effecter, after applying the proposed method, was less than 0,01. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.

scholarly journals Inverse kinematics of mobile manipulators based on differential evolution

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775273 ◽  
Author(s):  
Carlos López-Franco ◽  
Jesús Hernández-Barragán ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Michel López-Franco
Keyword(s):  
Differential Evolution ◽  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Mobile Manipulator ◽  
Robot Kinematics ◽  
Mobile Manipulators ◽  
Inverse Kinematic Problem ◽  
Simulation Results ◽  
Traditional Approaches

The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit–Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

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