The continuous inverse kinematic problem for mobile manipulators: a case study in the dynamic extension

2002 ◽  
Author(s):  
J. Jakubiak ◽  
K. Tchon
Keyword(s):  
Inverse Kinematic ◽  
Mobile Manipulators ◽  
Inverse Kinematic Problem ◽  
Continuous Inverse

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.

scholarly journals Using a Cable-Driven Parallel Robot with Applications in 3D Concrete Printing

2021 ◽  
Vol 11 (2) ◽  
pp. 563
Author(s):  
Tuong Phuoc Tho ◽  
Nguyen Truong Thinh
Keyword(s):  
3D Printing ◽  
Large Scale ◽  
Trust Region ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Programming Algorithm ◽  
Construction Time ◽  
Inverse Kinematic Problem ◽  
Robot Configuration ◽  
Printing Method

In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1991 ◽  
Author(s):  
Clément M. Gosselin ◽  
Ammar Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

Abstract This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations — and possibly for a lift-off and a set-down configuration — and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

DEVELOPMENT OF INTELLECTUAL CONTROL ALGORITHMS FOR PLASTER MECHATRON COMPLEXES FOR AGRICULTURAL ENTERPRISES

2020 ◽  
Author(s):  
O.L. Cvetkova ◽  
◽  
A.R. Ajdinyan
Keyword(s):  
Low Cost ◽  
Inverse Kinematic ◽  
Control Algorithms ◽  
High Quality ◽  
Inverse Kinematic Problem ◽  
Intelligent Algorithms ◽  
Agricultural Enterprises ◽  
Computational Costs ◽  
Control Actions ◽  
Intellectual Control

Agricultural enterprises are interested in high-quality and low-cost plastering of technological and warehouse premises. It is proposed to solve the problem using mechatronic complexes intended for plastering surfaces characterized by different features of irregularities. The work considers intelligent algorithms for controlling the actions of a stucco robot based on the use of an artificial neural network. Intelligent algorithms will provide the formation of control actions for the robot when applying the mortar to the surface, with a rough leveling of the mortar layer, will allow solving the inverse kinematic problem of position for the plastering robot with less computational costs.

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.

Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 417-422 ◽  
Author(s):  
Eriny W. Azmy
Keyword(s):  
Exact Solution ◽  
Clifford Algebra ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Serial Manipulators

SUMMARYIn this paper, Clifford Algebra is used to model and facilitate solving the inverse kinematic problem for robots with only two consecutive parallel axes. It is shown that when a solution exists, it is usually the case that one of the angles of rotation can be arbitrarily chosen from a union of intervals. The remaining angles are then uniquely determined. Of course, there are cases when no solution exists, such as when the object is out of reach. But typically, when solutions exist, there are infinitely many sets of solutions.

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