scholarly journals Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Bui Thi Hai Linh ◽  
Ying-Shieh Kung
Keyword(s):  
Integrated Circuits ◽  
Inverse Kinematics ◽  
High Speed ◽  
Robot Arm ◽  
Hardware Realization ◽  
Finite State ◽  
Motion Speed ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot ◽  
Five Axis

When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Jamaludin Jalani ◽  
Mohd Razali Md Tomari
Keyword(s):  
Modeling And Simulation ◽  
Inverse Kinematics ◽  
Cad Model ◽  
Robot Arm ◽  
Simulation Environment ◽  
Kinematics Simulation ◽  
Real Robot ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
Multi Body

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 

Application of Learning Control Theory to Mechanisms: Part 2 — Reduction of Residual Vibrations in High-Speed Electromechanical Bonding Machines

1994 ◽  
Author(s):  
M. Chew ◽  
M. Phan
Keyword(s):  
Integrated Circuits ◽  
Inverse Kinematics ◽  
High Speed ◽  
Inverse Dynamics ◽  
System Modeling ◽  
Learning Control ◽  
Integrated Approach ◽  
Electric Motors ◽  
Silicon Chips ◽  
Cam Profile

Abstract Learning control provides an integrated approach for handling inverse kinematics and inverse dynamics of mechanisms, in the presence of parametric errors in system modeling. This technique is applied to reduce residual vibrations at the bonding cap of an electromechanical bonding machine for integrated circuits (ICs); a process of electrically linking silicon chips to the leads. The bonding cap trajectory for the bonding motion is actuated by high-speed cams driven by electric motors. The primary causes of residual vibrations are due to errors in the design model of the nonlinear electromechanical system, in camshaft speed control, as well as, in cam profile fabrication. This article demonstrates the capability of learning control to reduce the residual vibrations in such machines, by compensating for these sources of errors.

scholarly journals A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 51 ◽  
Author(s):  
Yeshmukhametov ◽  
Koganezawa ◽  
Yamamoto
Keyword(s):  
Inverse Kinematics ◽  
Tension Control ◽  
Passive Tension ◽  
Robot Arm ◽  
Continuum Robot ◽  
Continuum Structure ◽  
Forward And Inverse Kinematics ◽  
The Wire ◽  
Pushing And Pulling ◽  
The Continuum

Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.

scholarly journals Joint Independent Forward and Inverse Kinematics for Hyper Redundant Series Robot Arm

2019 ◽  
Vol 85 (6) ◽  
pp. 585-590
Author(s):  
Hiroshi FUKUMARU ◽  
Akihiro HAYASHI ◽  
Toshifumi SATAKE ◽  
Shinya HARAMAKI ◽  
Keitaro NARUSE ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Robot Arm ◽  
Forward And Inverse Kinematics

Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator

2014 ◽  
Vol 612 ◽  
pp. 51-58
Author(s):  
Kumar Patel Dharmendra ◽  
K. Ramachandra ◽  
Singh Sartaj
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Robot Arm ◽  
Trigonometric Functions ◽  
Kinematic Modeling ◽  
Positional Accuracy ◽  
End Effector ◽  
Hardware Development ◽  
Articulated Robot

This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator developed makes use of integrated actuators and rapid prototyping technology enabling easy replication for educational purposes. The robot arm has been used for manipulation tasks in its workspace successfully.

scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

scholarly journals Design and implementation of a three-dimensional simulation system for a humanoid table tennis robot

2020 ◽  
Vol 53 (5-6) ◽  
pp. 876-883
Author(s):  
Lu Zhou
Keyword(s):  
Inverse Kinematics ◽  
Three Dimensional ◽  
Simulation System ◽  
Movement Planning ◽  
Robot Arm ◽  
Table Tennis ◽  
Leg Movement ◽  
Robot Leg ◽  
Forward And Inverse Kinematics ◽  
Dimensional Simulation

This paper designs and implements a simulation system that can verify the planning algorithms such as table tennis trajectory planning and robot leg movement planning. The simulation system and the humanoid robot’s control system are connected based on the RTnet real-time Ethernet protocol. The table tennis game of the humanoid robot is implemented using the simulation of the forward and inverse kinematics of the robot arm, the hitting planning, and the forward and inverse kinematics of the robot leg.

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