Algorithm Improvement Proposal to Solve the Direct Kinematics of a 10 Degrees of Freedom Snake Robot

2021 ◽  
Author(s):  
Martinez Gomez Carlos Alberto ◽  
Vargas Soto Jose Emilio
Keyword(s):  
Degrees Of Freedom ◽  
Snake Robot ◽  
Direct Kinematics

The Kinematics of Spatial Double-Triangular Parallel Manipulators

1995 ◽  
Vol 117 (4) ◽  
pp. 658-661 ◽  
Author(s):  
H. R. Mohammadi Daniali ◽  
P. J. Zsombor-Murray ◽  
J. Angeles
Keyword(s):  
Degrees Of Freedom ◽  
Quaternion Algebra ◽  
Parallel Manipulators ◽  
Numerical Examples ◽  
Six Degrees Of Freedom ◽  
Dual Number ◽  
Direct Kinematics

Two versions of spatial double-triangular mechanisms are introduced, one with three and one with six degrees of freedom. Using dual-number quaternion algebra, a formula for the direct kinematics of these manipulators is derived. Numerical examples are included.

scholarly journals Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro

2018 ◽  
Vol 3 (1) ◽  
pp. 532
Author(s):  
Jaime Eduardo Andrade Ramírez ◽  
Yeison Andrey Gómez Rubio ◽  
Diego Andrés Carranza Rivera
Keyword(s):  
Degrees Of Freedom ◽  
Robot Kinematics ◽  
Programming Environment ◽  
Control Software ◽  
Six Degrees Of Freedom ◽  
Psychological Injuries ◽  
Kinematic Study ◽  
Real Practice ◽  
Approximate Simulation ◽  
Direct Kinematics

This article shows the design, analysis and manufacturing of one equine robot prototype with six degrees of freedom along with the development and implementation of control software. This software has the purpose to drive and to calculate the robot kinematics. All of this allows studding the elements necessaries to make a simulator of shots for riders that can be used in education areas as a tool of didactic support in the courses in the police national of Colombia, ensuring that the riders do not suffer physical and psychological injuries during their formation and avoiding hurting the horses in the training of that courses. In addition, the riders can interact and experiment of safety way every situation that they could find in real practice. The system is based on the kinematic study according to the Denavit-Hartenberg algorithm, approximate simulation using Kinematic-ARM® and the mathematic medeling in the Matlab® programming environment. All tecniques give aproximate results of location of the manipulator tool.    Finally, it is possible to validate and analising the results comparing the practical and theoric values to determine the TCP error estimated in each movement.Keywords: Direct kinematics, equine robot, Denavit-Hartenberg (D-H), Degrees of Freedom (DOF), Tool Center Point (TCP).

scholarly journals Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA

MENDEL ◽  
2017 ◽  
Vol 23 (1) ◽  
pp. 157-162
Author(s):  
Jaroslav Hrdina ◽  
Ales Navrat ◽  
Petr Vasik ◽  
Radomil Matousek
Keyword(s):  
Local Control ◽  
Inverse Kinematics ◽  
Snake Robot ◽  
Direct Kinematics ◽  
Omnidirectional Wheels

We describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only.

scholarly journals Locomotion of a multi-link non-holonomic snake robot with passive joints

2020 ◽  
Vol 39 (5) ◽  
pp. 598-616
Author(s):  
Tony Dear ◽  
Blake Buchanan ◽  
Rodrigo Abrajan-Guerrero ◽  
Scott David Kelly ◽  
Matthew Travers ◽  
...  
Keyword(s):  
Feedback Control ◽  
Motion Planning ◽  
Nonlinear Analysis ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Geometric Mechanics ◽  
Snake Robot ◽  
Holonomic Constraints ◽  
Oscillation Modes ◽  
Robot Configurations

Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not require or even allow for direct command over all DOFs. In particular, a snake robot with more than three links with non-holonomic constraints cannot achieve arbitrary configurations in all of its joints while simultaneously locomoting. For such a system, we assume partial command over a subset of the joints, and allow the rest to evolve according to kinematic chained and dynamic models. Different combinations of actuated and passive joints, as well as joints with dynamic elements such as torsional springs, can drastically change the coupling interactions and stable oscillations of joints. We use tools from nonlinear analysis to understand emergent oscillation modes of various robot configurations and connect them to overall locomotion using geometric mechanics and feedback control for robots that may not fully utilize all available inputs. We also experimentally verify observations and motion planning results on a physical non-holonomic snake robot.

scholarly journals Performance Evaluation of a Sensor Concept for Solving the Direct Kinematics Problem of General Planar 3-RPR Parallel Mechanisms by Using Solely the Linear Actuators’ Orientations

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 72 ◽  
Author(s):  
Stefan Schulz
Keyword(s):  
Lower Bound ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Mechanisms ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Measurement Units ◽  
Linear Actuators ◽  
Direct Kinematics

In this paper, we experimentally evaluate the performance of a sensor concept for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism by using solely the linear actuators’ orientations. At first, we review classical methods for solving the direct kinematics problem of parallel mechanisms and discuss their disadvantages on the example of the general planar 3-RPR parallel mechanism, a planar parallel robot with two translational and one rotational degrees of freedom, where P denotes active prismatic joints and R denotes passive revolute joints. In order to avoid these disadvantages, we present a sensor concept together with an analytical formulation for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism where the number of possible assembly modes can be significantly reduced when the linear actuators’ orientations are used instead of their lengths. By measuring the orientations of the linear actuators, provided, for example, by inertial measurement units, only two assembly modes exist. Finally, we investigate the accuracy of our direct kinematics solution under static as well as dynamic conditions by performing experiments on a specially designed prototype. We also investigate the solution formulation’s amplification of measurement noise on the calculated pose and show that the Cramér-Rao lower bound can be used to estimate the lower bound of the expected variances for a specific pose based exclusively on the variances of the linear actuators’ orientations.

scholarly journals A Reconfigurable System Approach to the Direct Kinematics of a 5D.o.fRobotic Manipulator

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
Diego F. Sánchez ◽  
Daniel M. Muñoz ◽  
Carlos H. Llanos ◽  
José M. Motta
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Hardware Acceleration ◽  
Hardware Architecture ◽  
Floating Point ◽  
Field Programmable ◽  
Programmable Gate Arrays ◽  
Transcendental Functions ◽  
Direct Kinematics

Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5D.o.f) using floating-point arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field Programmable Gate Arrays (FPGAs). The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis) a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE), using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor), demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.

Computer Aided Design and Realization of a Snake Robot with Two Sets of Three Revolute Joint Mechanism

2014 ◽  
Vol 592-594 ◽  
pp. 2272-2276 ◽  
Author(s):  
V.S. Rajashekhar ◽  
K. Thiruppathi ◽  
R. Senthil
Keyword(s):  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Rotating Disks ◽  
Revolute Joint ◽  
Snake Robot ◽  
Flat Surfaces ◽  
Joint Mechanism ◽  
Aided Design ◽  
Made In ◽  
Snake Robots

Snake robots have high degrees of freedom and can move on any kind of environment by suitably adjusting itself. In order to serve this purpose, a snake robot with two sets of three revolute joint mechanism was developed to exhibit concertina motion. There are rotating disks at the end of the segments which enables side winding motion. By the combination of these two motions, the snake robot can traverse on flat surfaces and even on slopes. The snake robot was first drafted and then modeled. Then the mechanism was simulated and stress analysis was done for it. Finally the design was implemented and the snake robot was made in reality.

Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System

1996 ◽  
Vol 118 (4) ◽  
pp. 691-697 ◽  
Author(s):  
P. Chiacchio ◽  
S. Chiaverini ◽  
B. Siciliano
Keyword(s):  
Case Studies ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Coordinated Motion ◽  
Different Types ◽  
End Effectors ◽  
New Formulation ◽  
Direct Kinematics

A new formulation for direct kinematics of a system of two manipulators is presented This allows a straightforward description of general coordinated motion tasks in terms of meaningful absolute and relative variables An effective inverse kinematics algorithm is devised which exploits the above formulation where the task Jacobians are expressed in terms of the Jacobians of the single manipulators The scheme is extended to handle the presence of redundant degrees of freedom in the system Different types of grasp between the end effectors and a commonly held object are treated with minimum reformulation effort. Case studies are developed throughout the paper for a system of two PUMA 560 manipulators which illustrate the capabilities of the scheme.

scholarly journals Geometric Interpretation of the Derivatives of Parallel Robots’ Jacobian Matrix With Application to Stiffness Control

2003 ◽  
Vol 125 (1) ◽  
pp. 33-42 ◽  
Author(s):  
N. Simaan ◽  
M. Shoham
Keyword(s):  
Closed Form ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Geometric Interpretation ◽  
Parallel Robots ◽  
Redundant Robot ◽  
Moving Platforms ◽  
Stiffness Control ◽  
Derivatives Of ◽  
Direct Kinematics

This paper presents a closed-form formulation and geometrical interpretation of the derivatives of the Jacobian matrix of fully parallel robots with respect to the moving platforms’ position/orientation variables. Similar to the Jacobian matrix, these derivatives are proven to be also groups of lines that together with the lines of the instantaneous direct kinematics matrix govern the singularities of the active stiffness control. This geometric interpretation is utilized in an example of a planar 3 degrees-of-freedom redundant robot to determine its active stiffness control singularity.

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