scholarly journals Inverse Kinematic Problem of Movement of Six Degrees of Freedom Robotic Arm (Solved by a Numerical Method)

2020 ◽  
Vol 709 ◽  
pp. 033095
Author(s):  
A V Kochetkov ◽  
P M Salov ◽  
O V Zakharov
Keyword(s):  
Numerical Method ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Six Degrees Of Freedom

General method for kinematic synthesis of manipulators with task specifications

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 653-661 ◽  
Author(s):  
F.B. Ouezdou ◽  
S. Régnier
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Synthesis Problem ◽  
Inverse Kinematic Problem ◽  
Kinematic Synthesis ◽  
Six Degrees Of Freedom ◽  
Cluttered Environment ◽  
Dimensional Parameters ◽  
Joint Limits ◽  
General Method

This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are specified and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same method. A general algorithm is given for solving the synthesis problem for all kind of manipulators. The main contribution of this paper is a general method for kinematic synthesis of all kind of manipulators and some examples are presented for a six degrees of freedom manipulator in cluttered environment.

Admissible trajectory determination for two cooperating robot arms

Robotica ◽  
1988 ◽  
Vol 6 (2) ◽  
pp. 107-113 ◽  
Author(s):  
Joonhong Lim ◽  
Dong H. Chyung
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Experimental System ◽  
Inverse Kinematic ◽  
Robotic Hands ◽  
Robot System ◽  
Inverse Kinematic Problem ◽  
Six Degrees Of Freedom ◽  
Joint Variable ◽  
Trajectory Determination

SUMMARYThe problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The purpose is to move an object from one point to another by firmly grasping it at two different points using two robotic hands. The major difficulty is caused by the fact that, unless the robots have true six degrees of freedom, the trajectories the object can follow are severely limited and, in general, are difficult to find. The method proposed in the paper is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been successfully applied to a real experimental system.

Alternative Inverse Kinematic Equations for General RRP and RRR Regional Structures of Manipulators

1996 ◽  
Author(s):  
Peregrine E. J. Riley
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Inverse Kinematic ◽  
Intersection Point ◽  
Degree Polynomial ◽  
Six Degrees Of Freedom ◽  
Common Intersection ◽  
Position And Orientation ◽  
Spatial Positioning ◽  
Orientational Structure

Abstract Many manipulators with six degrees of freedom are constructed with two distinct sections, a regional structure for spatial positioning, and an orientational structure having a common intersection point for the joint axes. With this arrangement, inverse kinematic solutions for position and orientation may be found separately. While solutions for general three link manipulators have been available since the work of Pieper in 1969, this paper presents new forms of the inverse kinematic equations for general RRP and RRR regional structures. Cartesian coordinates of the F-surface (generated by movement of the outer two joints) together with the outer joint angle are used as the equation variables. In addition, a second degree polynomial approxiamation of the equation may be used for quick iteration to a solution. It is hoped that these new equations will be useful by themselves and in workspace regions where solutions using equations in terms of the joint variables are numerically inaccurate or impossible.

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.

Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

2020 ◽  
Vol 142 (8) ◽  
Author(s):  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Algorithm ◽  
Real Life ◽  
Path Tracking ◽  
Robotic Arm ◽  
Tracking Problem ◽  
Six Degrees Of Freedom ◽  
Time Optimal ◽  
Path Tracking Algorithm ◽  
Extended Path

Abstract This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.

Kinematics Optimization of a 3-SPS Parallel Redundant Motion Mechanism Using Conformal Geometric Algebra

2015 ◽  
Vol 789-790 ◽  
pp. 889-895
Author(s):  
Jahng Hyon Park ◽  
Jeseok Kim ◽  
Jin Han Jeong
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Optimal Solution ◽  
Inverse Kinematic ◽  
Fast Reaction ◽  
Inverse Kinematic Problem ◽  
Time Optimal ◽  
Parallel Link ◽  
Spherical Parallel Manipulator

In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

Sensitivity analysis of a six degrees of freedom displacement measuring device

2013 ◽  
Vol 228 (1) ◽  
pp. 158-168 ◽  
Author(s):  
Andrea Mura
Keyword(s):  
Sensitivity Analysis ◽  
Performance Analysis ◽  
Degrees Of Freedom ◽  
Stewart Platform ◽  
Inverse Kinematic ◽  
Measuring Device ◽  
Six Degrees Of Freedom ◽  
Geometrical Characteristics

Object of this paper is the performance analysis of a six degrees of freedom measuring device based on a modified Stewart platform structure. Because of the device studied in this work represents a novel application of a Stewart like platform, an investigation about its performance has been done, in order to evaluate both behaviour and characteristics of this device in different geometrical configurations. In particular, sensitivity analysis has been carried on about geometrical characteristics and displacements amplitude. To calculate the sensitivity, the inverse kinematic equations of the device have been obtained.

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 model to control the end-effector of a continuum robot for multi-axis processing

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 224-240 ◽  
Author(s):  
Salvador Cobos-Guzman ◽  
David Palmer ◽  
Dragos Axinte
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Euler Angle ◽  
Inverse Kinematic ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Hazardous Environments ◽  
Continuum Robot ◽  
Novel Method ◽  
Six Dof

SUMMARYThis paper presents a novel kinematic approach for controlling the end-effector of a continuum robot for in-situ repair/inspection in restricted and hazardous environments. Forward and inverse kinematic (IK) models have been developed to control the last segment of the continuum robot for performing multi-axis processing tasks using the last six Degrees of Freedom (DoF). The forward kinematics (FK) is proposed using a combination of Euler angle representation and homogeneous matrices. Due to the redundancy of the system, different constraints are proposed to solve the IK for different cases; therefore, the IK model is solved for bending and direction angles between (−π/2 to +π/2) radians. In addition, a novel method to calculate the Jacobian matrix is proposed for this type of hyper-redundant kinematics. The error between the results calculated using the proposed Jacobian algorithm and using the partial derivative equations of the FK map (with respect to linear and angular velocity) is evaluated. The error between the two models is found to be insignificant, thus, the Jacobian is validated as a method of calculating the IK for six DoF.

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