Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator

2009 ◽  
Author(s):  
Sajid M. Ahmed ◽  
Alexander N. Pechev
Keyword(s):  
Performance Analysis ◽  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

Structural Parameters Which Reduce the Number of Manipulator Configurations

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.

scholarly journals A Six Degree of Freedom Epicyclic-Parallel Manipulator

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Chen ◽  
Thibault Gayral ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Guillaume Moroz ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Six Dof ◽  
Six Degree Of Freedom

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

A New Design of a 6-DOF Parallel Robot

1990 ◽  
Vol 2 (4) ◽  
pp. 308-315 ◽  
Author(s):  
François Pierrot ◽  
◽  
Masaru Uchiyama ◽  
Pierre Dauchez ◽  
Alain Fournier ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Dynamic Capabilities ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Mechanical Structure ◽  
Delta Robot ◽  
Good Set ◽  
Six Degree Of Freedom ◽  
Three Degree Of Freedom

This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.

Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators

1996 ◽  
Vol 118 (1) ◽  
pp. 22-28 ◽  
Author(s):  
C. M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Novel Approach ◽  
Judicious Choice ◽  
Six Degree Of Freedom ◽  
Three Degree Of Freedom

This paper introduces a novel approach for the computation of the inverse dynamics of parallel manipulators. It is shown that, for this type of manipulator, the inverse kinematics and the inverse dynamics procedures can be easily parallelized. The result is a closed-form efficient algorithm using n processors, where n is the number of kinematic chains connecting the base to the end-effector. The dynamics computations are based on the Newton-Euler formalism. The parallel algorithm arises from a judicious choice of the coordinate frames attached to each of the legs, which allows the exploitation of the parallel nature of the mechanism itself. Examples of the application of the algorithm to a planar three-degree-of-freedom parallel manipulator and to a spatial six-degree-of-freedom parallel manipulator are presented.

Determination of the inverse kinematics branches of solution based on joint coordinates for UR-like serial robot architecture

2021 ◽  
pp. 1-13
Author(s):  
Louis-Thomas Schreiber ◽  
Clement Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Robot Architecture ◽  
Serial Robots ◽  
Joint Coordinates ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Six Degree Of Freedom

Abstract This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six-degree-of-freedom serial robots with a geometry based on or similar to Universal Robots' arms. The solution of the inverse kinematics problem is first presented briefly and the equations required to classify the robot postures(branches) based on the joint coordinates are then introduced.

scholarly journals Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1240-1266 ◽  
Author(s):  
Abhilash Nayak ◽  
Stéphane Caro ◽  
Philippe Wenger
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
End Effector ◽  
Inverse Kinematics Problem ◽  
Univariate Polynomial ◽  
Six Degree Of Freedom ◽  
Independent Parameters ◽  
Direct Kinematics

SUMMARYThis paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S–PM. Study parametrization is used to determine six independent parameters that characterize the S–PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in ℙ7. The inverse kinematics problem of the 3-RPS-3-SPR S–PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.

scholarly journals Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141774812 ◽  
Author(s):  
Tao Li ◽  
Peng Yao ◽  
Minzhou Luo ◽  
Zhiying Tan ◽  
Meiling Wang ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Humanoid Robots ◽  
Degree Of Freedom ◽  
Chaos Optimization ◽  
Workspace Analysis ◽  
Forward Kinematic ◽  
Six Degree Of Freedom

This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, π/2 or π and zero-length links. Forward kinematic and workspace analysis based on Denavit–Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics.

Analysis and Design of a Spatial Five-Degree-of-Freedom Hybrid Manipulator for Underwater Applications

1998 ◽  
Author(s):  
Martin Gagné ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Selection Criteria ◽  
Degree Of Freedom ◽  
Principal Selection ◽  
Main Concern ◽  
Hybrid Architecture ◽  
Analysis And Design ◽  
Optimum Parameters ◽  
Hybrid Manipulator ◽  
Six Degree Of Freedom

Abstract This paper presents the analysis and design of a spatial five-degree-of-freedom hybrid manipulator to be mounted on a submarine. The main concern of this new design is to provide a cheaper alternative to the six-degree-of-freedom serial manipulator currently used. The architecture is chosen from several hybrid architectures using simplicity and stiffness as the principal selection criteria. The direct and inverse kinematics are then developed based on a general form of the hybrid architecture, the velocity equations are obtained and the singularity loci are determined. Thereafter, the architecture parameters of the manipulator are optimized in order to provide optimum workspace. Finally, a specific architecture that uses the optimum parameters is provided and a workspace without singularities is presented.

Manipulator Configurations Based on Rotary-Linear (R-L) Actuators and Their Direct and Inverse Kinematics

1988 ◽  
Vol 110 (4) ◽  
pp. 397-404 ◽  
Author(s):  
D. Kohli ◽  
Soo-Hun Lee ◽  
Kao-Yueh Tsai ◽  
G. N. Sandor
Keyword(s):  
Inverse Kinematics ◽  
Polynomial Equation ◽  
Open Loop ◽  
Degree Of Freedom ◽  
Serial Link ◽  
New Type ◽  
Computationally Intensive ◽  
Six Degree Of Freedom ◽  
Two Degree Of Freedom ◽  
Direct Kinematics

In this paper, a new type of two-degree-of-freedom actuator called the rotary-linear (R-L) actuator is described. The R-L actuator permits a rotation and a translation along the axis of rotation, thus simulating a cylinder pair. The R-L actuators are then used in type synthesis of mechanical manipulator chains. Closed-loop three-, four, five, and six-degree-of-freedom chains containing four to nine links, R-L actuators, revolute pairs (R), prismatic pairs (P), cylindrical pairs (C), and spheric pairs (S) are then obtained. A class of manipulator configurations where the hand is connected to the ground via six-degree-of-freedom dyads or triads and containing three grounded R-L actuators is treated for inverse kinematics. Since all the actuators are on the ground in this configuration, higher payload capacities and smaller actuator sizes can be expected from these configurations. In addition, generally, the computations required for inverse kinematics are also significantly less than those required for serial link open-loop manipulators. The direct kinematics, however, is much more involved and computationally intensive for these manipulators than for serial-link manipulators. The direct kinematics of an example manipulator is derived and requires solution of a 16th-order polynomial equation. Numerical examples are presented for illustration.

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