Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators

1992 ◽  
Vol 114 (3) ◽  
pp. 438-443 ◽  
Author(s):  
B. Padmanabhan ◽  
V. Arun ◽  
C. F. Reinholtz
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Practical Importance ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Variable Geometry ◽  
Inverse Kinematic Problem ◽  
Inverse Kinematic Analysis ◽  
Variable Geometry Truss

A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.

Dual quaternion-based inverse kinematics of the general spatial 7R mechanism

2008 ◽  
Vol 222 (8) ◽  
pp. 1593-1598 ◽  
Author(s):  
D Gan ◽  
Q Liao ◽  
S Wei ◽  
J S Dai ◽  
S Qiao
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Dual Quaternion ◽  
Whole Process ◽  
Inverse Kinematic Analysis ◽  
Angular Displacements ◽  
Output Equation ◽  
Theoretical Results

The theory of dual quaternion and its use in serial mechanisms are described in this paper. A closed-form solution to the inverse kinematic analysis of the general 7-link 7R mechanism is presented. Dixon's resultant is used and the input—output equation is expressed in the form of a 6×6 determinant equated to zero, and the formulae to determine other angular displacements are expressed in the closed form. Numerical example confirms these theoretical results. The whole process is very simple and easy to program, which supplies a new method for the real use of the 7R mechanism.

Closed-Form Inverse Kinematic Solution of Triple Octahedron Variable Geometry Truss Manipulators

1998 ◽  
Author(s):  
Li Ju Xu ◽  
Yang Duan ◽  
Sui Xian Yang
Keyword(s):  
Closed Form ◽  
Solution Procedure ◽  
Inverse Kinematic ◽  
Variable Geometry ◽  
Output Variable ◽  
Output Displacement ◽  
Displacement Equation ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss ◽  
Kinematic Solution

Abstract In this paper the triple-octahedron variable geometry truss manipulator is presented and its inverse displacement analysis in closed form is studied, Input-output displacement equation in one output variable is derived. The solution procedure is given in detail. A numerical example is presented for illustration.

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

2013 ◽  
Vol 455 ◽  
pp. 533-538
Author(s):  
Edris Farah ◽  
Shao Gang Liu
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Surgical Robot ◽  
Decoupling Method ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

2004 ◽  
Author(s):  
Chao Chen ◽  
Svetlana Ostrovskaya ◽  
Jorge Angeles
Keyword(s):  
Computational Complexity ◽  
Mobile Robots ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Driving Mechanism ◽  
Real Time Control ◽  
Wheeled Mobile Robots ◽  
Time Control ◽  
Inverse Kinematic Analysis

The Dual-Wheel Transmission (DWT) unit, an innovative driving mechanism for wheeled mobile robots (WMRs), was introduced elsewhere. In this paper we conduct the direct and inverse kinematic analysis of WMRs with such units. This analysis can be applied as well to other types of WMRs equipped with conventional wheels. Both central and offset types of wheel units are discussed. The closed form symbolic solutions provided in this paper may reduce the computational complexity, as required in the real time control of such systems. Furthermore, the underlying relations reveal the geometric and physical meanings of the constraints imposed on the robots at hand.

Closed-form solution for direct and inverse kinematic models of a parallel manipulator for robotic orbital welding

2020 ◽  
Vol 42 (1) ◽  
Author(s):  
Eduardo José Lima ◽  
Henrique Augusto de Matos Souza ◽  
Kassio Maciel Kienitz ◽  
Frederico Allevato Ramalho Filho
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Orbital Welding ◽  
Kinematic Models

Design and Construction of a Statically-Balanced Direct Drive ARM

1987 ◽  
Author(s):  
H. Kazerooni ◽  
S. Kim
Keyword(s):  
Closed Form ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Direct Drive ◽  
University Of Minnesota ◽  
Closed Form Solutions ◽  
The University

Abstract A statically-balanced direct drive robot manipulator is being constructed at the University of Minnesota for analysis of manufacturing tasks such as deburrlng and grinding when Impedance Control (8, 10, 11) is used to control the robot. This mechanism using a four bar linkage is designed without extra counterweights. As a result of elimination of the gravity forces on the drive system, smaller actuators (and consequently smaller amplifiers) are chosen to guarantee the acceleration of about 5g without overheating the motors. This mechanism results in closed-form solution for Inverse kinematics. The closed-form solutions for dynamic and Inverse kinematic have been derived. High torque, low speed brush-less AC synchronous motors are used to power the robot. The relatively “large” workspace of this configuration is suitable for manufacturing tasks. Graphite epoxy composite material is being used for the construction of the robot links.

Development and Kinematic Position Analysis of a Novel Class 2 Tensegrity Robot

2018 ◽  
Author(s):  
Carlos G. Manríquez-Padilla ◽  
Karla A. Camarillo-Gómez ◽  
Gerardo I. Pérez-Soto ◽  
Juvenal Rodríguez-Reséndiz ◽  
Carl D. Crane
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Closed Form Solution ◽  
Form Solution ◽  
The Novel ◽  
Universal Joint ◽  
Position Analysis ◽  
Experimental Prototype ◽  
Inverse Position Analysis ◽  
Kinematic Position

This paper presents a novel class 2 tensegrity robot which has contact between its rigid elements with a universal joint. Also, an strategy to obtain the forward and inverse position kinematic analysis using the parameters Denavit–Hartenberg in the distal convention is presented, obtaining the closed–form solution for the inverse position analysis and it was validated through simulation where a point of the robot followed the desired trajectory. Finally, the results were implemented in the experimental prototype of the novel class 2 tensegrity robot.

scholarly journals Inverse kinematic analysis for triple-octahedron variable-geometry truss manipulators

2001 ◽  
Vol 215 (2) ◽  
pp. 247-251 ◽  
Author(s):  
L J Xu ◽  
G Y Tian ◽  
Y Duan ◽  
S X Yang
Keyword(s):  
Solution Procedure ◽  
Inverse Kinematic ◽  
Variable Geometry ◽  
Input Output ◽  
Output Variable ◽  
Output Displacement ◽  
Displacement Equation ◽  
Inverse Kinematic Analysis ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

In this paper, a new triple-octahedron variable-geometry truss manipulator is presented. Its inverse kinematic solutions in closed form are studied. An input-output displacement equation in one output variable is derived. The solution procedure is given in detail. A numerical example is illustrated.

Sign in / Sign up

Export Citation Format

Share Document