Posture Prediction Versus Inverse Kinematics

2001 ◽  
Author(s):  
Karim Abdel-Malek ◽  
Wei Yu ◽  
Zan Mi ◽  
E. Tanbour ◽  
M. Jaber
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Human Performance ◽  
Inverse Kinematic ◽  
Cost Functions ◽  
Optimization Approach ◽  
Final Position ◽  
Serial Robot ◽  
Posture Prediction

Abstract Inverse kinematics is concerned with the determination of joint variables of a manipulator given its final position or final position and orientation. Posture prediction also refers to the same problem but is typically associated with models of the human limbs, in particular for postures assumed by the torso and upper extremities. There has been numerous works pertaining to the determination and enumeration of inverse kinematic solutions for serial robot manipulators. Part of these works have also been directly extended to the determination of postures for humans, but have rarely addressed the choice of solutions undertaken by humans, but have focused on purely kinematic solutions. In this paper, we present a theoretical framework that is based on cost functions as human performance measures, subsequently predicting postures based on optimizing one or more of such cost functions. This paper seeks to answer two questions: (1) Is a given point reachable (2) If the point is reachable, we shall predict a realistic posture. We believe that the human brain assumes different postures driven by the task to be executed and not only on geometry. Furthermore, because of our optimization approach to the inverse kinematics problem, models with large number of degrees of freedom are addressed. The method is illustrated using several examples.

Optimization-based posture prediction for human upper body

Robotica ◽  
2009 ◽  
Vol 27 (4) ◽  
pp. 607-620 ◽  
Author(s):  
Zan Mi ◽  
Jingzhou (James) Yang ◽  
Karim Abdel-Malek
Keyword(s):  
Performance Measures ◽  
Degrees Of Freedom ◽  
Human Performance ◽  
Computational Algorithm ◽  
Performance Measure ◽  
Upper Body ◽  
Cost Functions ◽  
Posture Prediction ◽  
Joint Limits ◽  
Digital Human

SUMMARYA general methodology and associated computational algorithm for predicting postures of the digital human upper body is presented. The basic plot for this effort is an optimization-based approach, where we believe that different human performance measures govern different tasks. The underlying problem is characterized by the calculation (or prediction) of the human performance measure in such a way as to accomplish a specified task. In this work, we have not limited the number of degrees of freedom associated with the model. Each task has been defined by a number of human performance measures that are mathematically represented by cost functions that evaluate to a real number. Cost functions are then optimized, i.e., minimized or maximized, subject to a number of constraints, including joint limits. The formulation is demonstrated and validated. We present this computational formulation as a broadly applicable algorithm for predicting postures using one or more human performance measures.

scholarly journals Research on kinematic structure of a redundant serial industrial robot arm

2016 ◽  
Vol 19 (3) ◽  
pp. 24-33
Author(s):  
Hung Minh Vu ◽  
Trung Quang Trinh ◽  
Thang Quoc Vo
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Kinematic Structure ◽  
Robot Arm ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Author(s):  
Zhi Xin Shi ◽  
Yu Feng Luo ◽  
Lu Bing Hang ◽  
Ting Li Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Algebraic Method ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Parallel Mechanisms ◽  
Simple Method ◽  
Inverse Kinematics Problem ◽  
Serial Robot

Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on one-dimension searching algorithm. The new method has the following features: (1) Using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; (2) Compared with algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Vol 129 (8) ◽  
pp. 793-798 ◽  
Author(s):  
Shi Zhi Xin ◽  
Luo Yu Feng ◽  
Hang Lu Bing ◽  
Yang Ting Li
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Forward Kinematics ◽  
The Real ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

scholarly journals Implementasi Metode Inverse Kinematics Pada Gerakan Animasi 3D Karakter Manusia

Respati ◽  
2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Ahmad Zaid Rahman, Ema Utami, Hanif Al Fatta
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Kinematic

Perkembangan industri animasi saat ini, khususnya animasi digital yang dibuat pada umumnya sudah menggunakan bantuan dari komputer telah menjadi salah satu industri yang paling menguntungkan dengan angka pertumbuhan yang tinggi di setiap tahunnya. Model gerakan yang digunakan dalam proses animasi dapat dibuat dengan berbagai macam metode, salah satu metodenya adalah inverse kinematic. Metode ini diharapkan dapat menghasilkan gerak animasi yang lebih akurat. Penelitian ini menguji metode inverse kinematics dan diimplementasikan kedalam animasi 3D karakter manusia. Pada proses Pengujian akan dilakukan oleh animator professional dengan menganimasikan karakter 3 Dimensi yang sudah diberi parameter tolak ukur kebebasan tulang (Degrees of Freedom) dan menganimasikan karakter 3 Dimensi yang tidak menggunakan tolak ukur kebebasan tulang (Degrees of Freedom). Selanjutnya ditahap pengujian setelah dilakukan penganimasian pada karakter 3 Dimensi, yaitu membandingkan sudut yang terbentuk dari setiap sendi pada bagian tubuh animasi 3 Dimensi yang telah dibuat menggunakan metode inverse kinematic dengan video referensi yang berupa video live shoot. Pengujian ini penulis lakukan bertujuan untuk mengetahui berapa akurasi kemiripan dari kedua video tersebut. Software yang digunakan untuk mengukur sudut gerak sendi yaitu Tracker. Hasil dari penelitian ini ialah, untuk memberikan solusi agar pembuatan animasi 3D dapat lebih akurat dengan memperhatikan tolak ukur kebebasan tulang (Degrees of Freedom) sesuai anatomi pada manusia dan menggunakan metode inverse kinematics  sehingga lebih akurat.Kata kunci—Animasi 3D, Gerakan, Inverse Kinematics, Rangka manusia, Sendi .

Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations

1995 ◽  
Author(s):  
Louis Perreault ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
General Procedure ◽  
Inverse Kinematic ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Inverse Kinematic Problem

Abstract This paper presents an algorithm for the solution of the inverse kinematics of a serial redundant manipulator with one (or more) locked joint(s). To this end, a general procedure is developed for the determination of the equivalent Denavit-Hartenberg parameters of a serial manipulator with locked joints. This procedure can be applied to any serial architecture. The solution of the inverse kinematic problem for the three cases which can arise is then addressed. An example of the application of the method to a SARCOS 7-DOF manipulator is also given.

scholarly journals Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics

2019 ◽  
Vol 8 (4) ◽  
Author(s):  
Muhammad Aziz Muslim ◽  
Mochammad Rusli ◽  
Achnafian Rafif Zufaryansyah ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Mobile Robot ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Revolution ◽  
Research Direction ◽  
Wave Pattern ◽  
Gait Pattern ◽  
Sine Wave ◽  
Inverse Kinematic ◽  
Movement System

As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

scholarly journals Utilization of multilayer perceptron for determining the inverse kinematics of an industrial robotic manipulator

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142092528
Author(s):  
Sandi Baressi Šegota ◽  
Nikola Anđelić ◽  
Vedran Mrzljak ◽  
Ivan Lorencin ◽  
Ivan Kuric ◽  
...  
Keyword(s):  
Multilayer Perceptron ◽  
Inverse Kinematics ◽  
Absolute Error ◽  
Robotic Manipulator ◽  
Inverse Kinematic ◽  
Percentage Error ◽  
Joint Angles ◽  
Transformation Matrices ◽  
Error Metrics

Inverse kinematic equations allow the determination of the joint angles necessary for the robotic manipulator to place a tool into a predefined position. Determining this equation is vital but a complex work. In this article, an artificial neural network, more specifically, a feed-forward type, multilayer perceptron (MLP), is trained, so that it could be used to calculate the inverse kinematics for a robotic manipulator. First, direct kinematics of a robotic manipulator are determined using Denavit–Hartenberg method and a dataset of 15,000 points is generated using the calculated homogenous transformation matrices. Following that, multiple MLPs are trained with 10,240 different hyperparameter combinations to find the best. Each trained MLP is evaluated using the R 2 and mean absolute error metrics and the architectures of the MLPs that achieved the best results are presented. Results show a successful regression for the first five joints (percentage error being less than 0.1%) but a comparatively poor regression for the final joint due to the configuration of the robotic manipulator.

scholarly journals Some aspects of topology and kinematics of a 3DOF translational parallel mechanism

2014 ◽  
Vol 19 (1) ◽  
pp. 5-15 ◽  
Author(s):  
J. Bałchanowski
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Analytical Procedure ◽  
Method Of Determination ◽  
Fixed Orientation ◽  
Three Degrees Of Freedom ◽  
Selection Of

Abstract The paper presents elements of the topology, geometry and the kinematic analysis of a translational parallel mechanism with three degrees of freedom. In such mechanisms the selection of a proper structure and geometry ensures that the driven link maintains a fixed orientation relative to the base. The method of determination of the configuration of mechanisms using contour vector notation was elaborated in the paper. The equations for the analysis of the direct and inverse kinematics task are determined. An analytical procedure for determining the system’s singular positions is presented and illustrated with examples

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