Planning Manipulation and Grasping Tasks With a Redundant Arm

2011 ◽  
Author(s):  
Steven R. Gray ◽  
Joseph M. Romano ◽  
Jordan Brindza ◽  
Soonkyum Kim ◽  
Katherine J. Kuchenbecker ◽  
...  
Keyword(s):  
Software Architecture ◽  
Inverse Kinematics ◽  
Hardware Implementation ◽  
Joint Space ◽  
Target Object ◽  
State Machine ◽  
Robotic Arm ◽  
Autonomous Manipulation ◽  
Manipulation Task ◽  
Position And Orientation

This paper presents an approach to analysis and planning for autonomous manipulation tasks using a commercially available robotic arm and hand. We discuss hardware implementation, software architecture, and state machine behaviors. The inverse kinematics of the seven-degree-of-freedom manipulator are analytically derived with special attention to deterministically resolving the redundancy at the position level. Appropriate grasps are generated given the perceived position and orientation of the target object. Planning for the arm is accomplished in joint space using an RRT* implementation. Our implementation is able to detect an arbitrarily placed object in the workspace, generate a plan for the arm and hand avoiding obstacles, and execute the planned manipulation task. To show the efficacy of our approach, we present experiments in which the system autonomously grasps a canteen and a flashlight.

scholarly journals Kinematics Analysis of 5 DOF Robotic Arm

2020 ◽  
Vol 38 (3A) ◽  
pp. 412-422
Author(s):  
Tahseen F. Abaas ◽  
Ali A. Khleif ◽  
Mohanad Q. Abbood
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Maximum Error ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Algebraic Solution ◽  
Kinematics Analysis ◽  
End Effector ◽  
Position And Orientation

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.

scholarly journals Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7257
Author(s):  
Xiaohua Shi ◽  
Yu Guo ◽  
Xuechan Chen ◽  
Ziming Chen ◽  
Zhiwei Yang
Keyword(s):  
Matrix Method ◽  
Inverse Kinematics ◽  
Joint Space ◽  
Singularity Analysis ◽  
Robotic Arm ◽  
Redundant Manipulator ◽  
Singularity Avoidance ◽  
Primitive Matrix ◽  
Motion Characteristics ◽  
Kinematic Singularities

A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.

scholarly journals A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Ahmed R. J. Almusawi ◽  
L. Canan Dülger ◽  
Sadettin Kapucu
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Inverse Kinematics ◽  
Input Pattern ◽  
Robotic Arm ◽  
Joint Angles ◽  
Neural Network Approach ◽  
Position And Orientation ◽  
Artificial Neural ◽  
Artificial Neural Network Approach

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

Algebraic models based on trigonometric and Cramer's rules for computing inverse kinematics of robotic arm

2022 ◽  
Vol 1 (1) ◽  
pp. 1
Author(s):  
Riza Sulaiman ◽  
Wan Azlan Wan Hassan ◽  
Muhammad Fairuz Abd. Rauf ◽  
Zuraidy Adnan ◽  
Raja Mohd. Tariqi Raja Lope Ahmad ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Algebraic Models

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

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