Kinematic Calibration of Robotic Manipulators

1989 ◽  
Vol 111 (4) ◽  
pp. 482-487 ◽  
Author(s):  
K. Kazerounian ◽  
G. Z. Qian
Keyword(s):  
Coordinate System ◽  
Numerical Simulations ◽  
Robotic Manipulators ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Analysis Method ◽  
Position Analysis ◽  
Zero Position ◽  
Joint Coordinate System

A kinematic calibration model for serial robotic manipulators is presented. This model is based on the zero position analysis method, and is not prone to the difficulties encountered in case of parallel or near parallel joints when using joint coordinate system notations. The convergence and effectiveness of the model are demonstrated by numerical simulations.

Dynamic Calibration for Serial Robotic Manipulators Based on the Zero Position Analysis Method

1989 ◽  
Author(s):  
G. Z. Qian ◽  
K. Kazerounian
Keyword(s):  
Robotic Manipulators ◽  
Calibration Method ◽  
Dynamic Calibration ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Dynamic Parameters ◽  
Analysis Method ◽  
Kinematic Parameters ◽  
Position Analysis ◽  
Zero Position

Abstract In the continuation of a kinematic calibration method developed in a previous report, a new dynamic calibration model for serial robotic manipulators is presented in this paper. This model is based on the Zero Position Analysis Method. It entails the process of estimating the errors in the robot’s dynamic parameters by assuming that the kinematic parameters are free of errors. The convergence and effectiveness of the model are demonstrated through numerical simulations.

On the Numerical Inverse Kinematics of Robotic Manipulators

1987 ◽  
Vol 109 (1) ◽  
pp. 8-13 ◽  
Author(s):  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Robotic Manipulators ◽  
Analysis Method ◽  
Computationally Efficient ◽  
Serial Manipulators ◽  
Position Analysis ◽  
Zero Position

Based on the sequential motion of joints, a method is developed for the numerical inverse kinematics of serial manipulators. This algorithm is stable and computationally efficient and uses the zero position analysis method for robotic manipulators.

Study on the influence of linear and nonlinear distribution of crosswind on the motion of aircraft wake vortex

2021 ◽  
pp. 095441002098743
Author(s):  
Dong Li ◽  
Ziming Xu ◽  
Ke Zhang ◽  
Zeyu Zhang ◽  
Jinxin Zhou ◽  
...  
Keyword(s):  
Numerical Simulations ◽  
Dissipation Rate ◽  
Vortex Pair ◽  
Vertical Shear ◽  
Wake Vortex ◽  
Analysis Method ◽  
Velocity Magnitude ◽  
Aircraft Wake ◽  
Linear And Nonlinear ◽  
Nonlinear Distribution

Environmental crosswind can greatly affect the development of aircraft wake vortex pair. Previous numerical simulations and experiments have shown that the nonlinear vertical shear of the crosswind velocity can affect the dissipation rate of the aircraft wake vortex, causing each vortex of the vortex pair descent with different velocity magnitude, which will lead to the asymmetrical settlement and tilt of the wake vortex pair. Through numerical simulations, this article finds that uniform crosswind convection and linear vertical shear crosswind convection can also have an effect on the strength of the vortex. This effect is inversely proportional to the cube of the vortex spacing, so it is more intense on small separation vortex pair. In addition, the superposition of crosswind and vortex-induced velocities will lead to the asymmetrical pressure distribution around the vortex pair, which will also cause the tilt of the vortex pair. Furthermore, a new analysis method for wake vortex is proposed, which can be used to predict the vortex trajectory.

scholarly journals A Useful Manufacturing Guide for Rotary Piercing Seamless Pipe by ALE Method

2020 ◽  
Vol 8 (10) ◽  
pp. 756
Author(s):  
Ameen Topa ◽  
Burak Can Cerik ◽  
Do Kyun Kim
Keyword(s):  
Numerical Simulations ◽  
Maximum Stress ◽  
Three Dimensional ◽  
Material Model ◽  
Manufacturing Processes ◽  
Arbitrary Lagrangian Eulerian ◽  
Analysis Method ◽  
Seamless Pipe ◽  
Ale Formulation ◽  
Good Agreement

The development of numerical simulations is potentially useful in predicting the most suitable manufacturing processes and ultimately improving product quality. Seamless pipes are manufactured by a rotary piercing process in which round billets (workpiece) are fed between two rolls and pierced by a stationary plug. During this process, the material undergoes severe deformation which renders it impractical to be modelled and analysed with conventional finite element methods. In this paper, three-dimensional numerical simulations of the piercing process are performed with an arbitrary Lagrangian–Eulerian (ALE) formulation in LS-DYNA software. Details about the material model as well as the elements’ formulations are elaborated here, and mesh sensitivity analysis was performed. The results of the numerical simulations are in good agreement with experimental data found in the literature and the validity of the analysis method is confirmed. The effects of varying workpiece velocity, process temperature, and wall thickness on the maximum stress levels of the product material/pipes are investigated by performing simulations of sixty scenarios. Three-dimensional surface plots are generated which can be utilized to predict the maximum stress value at any given combination of the three parameters.

scholarly journals Model-Based Analysis of Yo-yo Throwing Motion on Single-Link Manipulator

2020 ◽  
Vol 32 (4) ◽  
pp. 822-831
Author(s):  
Hokuto Miyakawa ◽  
◽  
Takuma Nemoto ◽  
Masami Iwase
Keyword(s):  
Angular Velocity ◽  
Numerical Simulations ◽  
Integrated Model ◽  
Analysis Method ◽  
Model Based ◽  
Single Link ◽  
Throwing Motion ◽  
Model Based Analysis

This paper presents a method for analyzing the throwing motion of a yo-yo based on an integrated model of a yo-yo and a manipulator. Our previous integrated model was developed by constraining a model of a white painted commercial yo-yo and a model of a plain single-link manipulator with certain constraining conditions placed between two models. However, for the yo-yo model, the collisions between the string and the axle of the yo-yo were not taken into account. To avoid this problem, we estimate some of the yo-yo parameters from the experiments, thereby preserving the functionality of the model. By applying the new integrated model with the identified parameters, we analyze the throwing motion of the yo-yo through numerical simulations. The results of which show the ranges of the release angle and the angular velocity of the joint of the manipulator during a successful throw. In conclusion, the proposed analysis method is effective in analyzing the throwing motion of a manipulator.

scholarly journals Investigation of a Multitasking System for Automatic Ship Berthing in Marine Practice Based on an Integrated Neural Controller

Mathematics ◽  
2020 ◽  
Vol 8 (7) ◽  
pp. 1167
Author(s):  
Van Suong Nguyen
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Networks ◽  
Coordinate System ◽  
Numerical Simulations ◽  
Neural Controller ◽  
The Neural Network ◽  
Artificial Neural ◽  
Ship Berthing

In this article, a multitasking system is investigated for automatic ship berthing in marine practices, based on artificial neural networks (ANNs). First, a neural network with separate structures in hidden layers is developed, based on a head-up coordinate system. This network is trained once with the berthing data of a ship in an original port to conduct berthing tasks in different ports. Then, on the basis of the developed network, an integrated mechanism including three negative signs is linked to achieve an integrated neural controller. This controller can bring the ship to a berth on each side of the ship in different ports. The whole system has the ability to berth for different tasks without retraining the neural network. Finally, to validate the effectiveness of the proposed system for automatic ship berthing, numerical simulations were performed for berthing tasks, such as different ports, and berthing each side of the ship. The results indicate that the proposed system shows a good performance in automatic ship berthing.

scholarly journals 3D Numerical Simulation of Seamless Pipe Piercing Process by Fluid-Structure Interaction Method

2018 ◽  
Vol 203 ◽  
pp. 06016 ◽  
Author(s):  
Ameen Topa ◽  
Do Kyun Kim ◽  
Youngtae Kim
Keyword(s):  
Numerical Simulations ◽  
Fluid Structure Interaction ◽  
Three Dimensional ◽  
Rolling Process ◽  
Arbitrary Lagrangian Eulerian ◽  
Analysis Method ◽  
Seamless Pipe ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Ale Formulation

Seamless pipes are produced using piercing rolling process in which round bars are fed between two rolls and pierced by stationary plug. During this process, the material undergoes severe deformation which renders it impractical to perform the numerical simulations with conventional finite element methods. In this paper, three dimensional numerical simulations of the piercing process are performed with Fluid-Structure Interaction (FSI) Method using Arbitrary Lagrangian-Eulerian (ALE) Formulation with LS DYNA software. The results of numerical simulations agree with experimental data of Plasticine workpiece and the validity of the analysis method is confirmed.

3D Curve Generation Using Spherical Polar Piecewise Interpolation in CAD and CAM

2020 ◽  
Vol 896 ◽  
pp. 224-228
Author(s):  
Mihai Dupac
Keyword(s):  
Path Planning ◽  
Coordinate System ◽  
Numerical Simulations ◽  
Trajectory Planning ◽  
Robot Arm ◽  
Polar Plane ◽  
Spherical Coordinate ◽  
Manufacturing Efficiency ◽  
Planning Approach ◽  
Design And Manufacturing

In this paper a newly 3D path planning approach and curve generation for design and manufacturing efficiency is considered. The 3D path is generated by a combination of piecewise interpolating curves - along a given number of via-points - created via a spherical coordinate system specified by the polar angles, radial distances and the associated azimuthal angles. Each piecewise interpolating curve is constructed using Hermite polar interpolation in the projective polar plane and the rotating azimuthal plane. To verify the proposed approach, numerical simulations for the generation of a helix design, a 4 and 6 leaf design and a trajectory planning of a picking robot arm are conducted.

Proposal and Experimental Verification of Design Guidelines for Centrifugal Compressor Impellers With Curvilinear Element Blades to Improve Compressor Performance

2014 ◽  
Author(s):  
Kiyotaka Hiradate ◽  
Kazuyuki Sugimura ◽  
Hiromi Kobayashi ◽  
Toshio Ito ◽  
Hideo Nishida
Keyword(s):  
Velocity Distribution ◽  
Coordinate System ◽  
Numerical Simulations ◽  
Centrifugal Compressor ◽  
Design Guidelines ◽  
Compressor Stage ◽  
Stall Margin ◽  
Cylindrical Coordinate ◽  
Forward Part ◽  
Stage Efficiency

This study numerically and experimentally examines the effects of applying curvilinear element blades to fully-shrouded centrifugal impellers on the performance of the centrifugal compressor stages. The design suction coefficient of the target impellers was 0.073. Our previous study confirmed that the application of curvilinear element blades could improve the stage efficiency of similar types of centrifugal compressors. However, a detailed explanation of the relation between the stall margin and the application of the curvilinear element blades remains to be given. The purpose of this study is to investigate the effects of using these blades on the impeller flow field and the stall margin in further detail. The curvilinear element blades we developed for centrifugal turbomachinery were defined by the coordinate transformations between a revolutionary flow-coordinate system and a cylindrical coordinate system. All the blade sections in the transferred cylindrical coordinate system were moved and stacked spanwise in accordance with the given “lean profile,” which meant the spanwise distribution profile of movement of the blade sections, to form a new leaned blade surface. The effects of the curvilinear element blades on the impeller flowfield were investigated by conducting numerical simulations using this method. We next considered the optimum design guidelines for impellers with curvilinear element blades. Then we designed a new impeller using these design guidelines and evaluated the performance improvement of a new compressor stage by conducting numerical simulations. As mentioned in several papers, we numerically confirmed that curvilinear element blades with a negative tangential lean profile improved the velocity distribution and stage efficiency because they help to suppress the secondary flows in the impeller. The negative tangential lean mentioned in this paper represents the lean profile in which the blade hub end leans forward in the direction of the impeller rotation compared to the blade shroud end. At the same time, we also found that the stall margin of these impellers deteriorated due to the increase in relative velocity deceleration near the suction surface of the shroud in the forward part of the impeller. Therefore, we propose new design guidelines for impellers with the curvilinear element blades by applying a negative tangential lean to line element blades in which the blade loading of the shroud side in the forward part of the impeller is reduced. We confirmed from the numerical simulation results that the performance of the new compressor stage improved compared to that in the corresponding conventional one. The new design guidelines for the curvilinear element blades were experimentally verified by comparing the performance of the new compressor stage with the corresponding conventional one. The measured efficiency of the new compressor stage was 2.4 % higher than that of the conventional stage with the stall margin kept comparable. A comparison of the measured velocity distributions at the impeller exit showed that the velocity distribution of the new impeller was much more uniform than that of the conventional one.

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