scholarly journals Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Lu-Han Ma ◽  
Yong-Bo Zhong ◽  
Gong-Dong Wang ◽  
Nan Li
Keyword(s):  
Numerical Calculation ◽  
Error Analysis ◽  
Motion Control ◽  
Lie Group ◽  
Kinematic Analysis ◽  
Kinematic Model ◽  
Modeling Method ◽  
Calibration Error ◽  
Kinematic Modeling ◽  
Closed Chain

The robot kinematic model is the basis of motion control, calibration, error analysis, etc. Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality. DH model as the most widely used method to build robot kinematic model still has problems in completeness, model continuity, and calculation, especially for robots with complex mechanisms such as closed chain mechanism and branch mechanism. In this paper, an improved kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept. The improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm. With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated. The results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly. The kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot.

Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints

2013 ◽  
Vol 461 ◽  
pp. 278-283 ◽  
Author(s):  
Jiang Hai Zhao ◽  
Xiao Dong Ye ◽  
Wen Huan Qian
Keyword(s):  
Nuclear Power ◽  
Kinematic Model ◽  
Modeling Method ◽  
Kinematic Modeling ◽  
Large Space ◽  
Heavy Load ◽  
Continuum Manipulator ◽  
Robot Configuration ◽  
High Flexibility ◽  
The Continuum

Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.

scholarly journals The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory

2021 ◽  
Vol 2021 ◽  
pp. 1-34
Author(s):  
Lu-Han Ma ◽  
Yong-Bo Zhong ◽  
Gong-Dong Wang ◽  
Nan Li
Keyword(s):  
Numerical Calculation ◽  
Lie Group ◽  
Dynamic Models ◽  
Lagrange Equation ◽  
Kinematic Parameter ◽  
Model Complexity ◽  
Calculation Error ◽  
Closed Chain ◽  
Complex Mechanisms ◽  
The Relationship

The kinematic and dynamic models of robots with complex mechanisms such as the closed-chain mechanism and the branch mechanism are often very complex and difficult to be calculated. Aiming at this issue, in this paper, the pose of the component in robots is represented by the Euclidean group and its subgroups with the proposed method. The component’s velocity is derived using the relationship between the Lie group and Lie algebra, and the acceleration and Jacobian matrix are then derived on this basis. The Lagrange equation is expressed by the obtained kinematic parameter expressions. Establishing the model with this method can obtain clear physical meaning and make the expressions uniform and easy to program, which is convenient for computer-aided calculation and parameterization. Calculating by the properties of the Lie group can reduce the calculation and model complexity, especially for calculating the velocity and acceleration, which reduces the calculation error and eases the calculation. Therefore, the proposed modeling and calculation method of kinematics and dynamics of robots is especially suitable for robots with complex mechanisms. As an example, the kinematic and dynamic model of the manipulator developed in our laboratory is established and a working process of it is numerically calculated. Then, the results of the numerical calculation are compared with the results of virtual prototype simulation in ADAMS to verify the correctness.

Kinematic Modeling for a 6-DOF Industrial Robot

2012 ◽  
Vol 590 ◽  
pp. 471-474 ◽  
Author(s):  
Guan Bin Gao ◽  
Jian Lu ◽  
Jian Jun Zhou
Keyword(s):  
Motion Control ◽  
Structural Characteristics ◽  
Industrial Robot ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Great Influence ◽  
Robot Motion ◽  
Coordinate Systems ◽  
Kinematic Modeling ◽  
Position And Orientation

The kinematic model of robots is to describe the nonlinear relationship between the displacement of joints and the position and orientation of the end-effector, which is an important part of robotics. Kinematic model has great influence on the robot’s accuracy and motion control. In this paper, we studied the robot’s kinematic modeling methods and analyzed the characteristics and singularity of traditional DH method. By analyzing and comparing the structural characteristics of a 6-DOF industrial robot a MDH method was chosen to establish kinematic model. From the kinematic model the joint coordinate systems, structural parameters and homogeneous transformation matrixes of the robot are obtained. The kinematic model provides a theoretical basis for the robot motion control, calibration and error compensation.

scholarly journals Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

2021 ◽  
Vol 11 (22) ◽  
pp. 10591
Author(s):  
Lijun Qiao ◽  
Luo Xiao ◽  
Qingsheng Luo ◽  
Minghao Li ◽  
Jianfeng Jiang
Keyword(s):  
Collision Detection ◽  
Classical Method ◽  
Kinematic Model ◽  
Physical Structure ◽  
Modeling Method ◽  
Mobile Manipulator ◽  
Kinematic Modeling ◽  
Actual Structure ◽  
Detection Technology ◽  
Manipulator Robot

In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.

Duct Cleaning Robot Comprehensive Kinematics Modeling and Analysis Considering the Complex Terrain

2012 ◽  
Vol 430-432 ◽  
pp. 2032-2036 ◽  
Author(s):  
Bao Qiang Wu ◽  
Wei Sun ◽  
Ming Hua Ouyang
Keyword(s):  
Complex Terrain ◽  
Kinematic Model ◽  
Modeling Method ◽  
Kinematic Modeling ◽  
Motion Modeling ◽  
Modeling And Analysis ◽  
Robot Trajectory ◽  
Cleaning Robot ◽  
Kinematics Modeling ◽  
Duct Cleaning Robot

Complex terrain conditions greatly influences the movement of mobile robot,which should not be neglected.In this paper,a novel motion modeling idea is proposed, in which the robot chassis attitude angle changes caused by topographic changes was real-timely measured and be input into the robot kinematic modeling process to establish the overall kinematic model of robot. This modeling method reflect the various parts of the robot motion relations, and also display the complex topography of the robot trajectory of the end of the actuator.Finally,validated and analyzed the feasibility of the modeling method.

scholarly journals Realtime Motion Assessment For Rehabilitation Exercises: Integration Of Kinematic Modeling With Fuzzy Inference

2014 ◽  
Vol 4 (4) ◽  
pp. 267-285 ◽  
Author(s):  
Wenbing Zhao ◽  
Roanna Lun ◽  
Deborah D. Espy ◽  
M. Ann Reinthal
Keyword(s):  
Fuzzy Inference ◽  
Kinematic Model ◽  
Integrated Approach ◽  
Kinematic Modeling ◽  
Motion Data ◽  
Fuzzy Interference System ◽  
Novel Approach ◽  
Motion Assessment ◽  
Rehabilitation Exercises ◽  
Rehabilitation Exercise

Abstract This article describes a novel approach to realtime motion assessment for rehabilitation exercises based on the integration of comprehensive kinematic modeling with fuzzy inference. To facilitate the assessment of all important aspects of a rehabilitation exercise, a kinematic model is developed to capture the essential requirements for static poses, dynamic movements, as well as the invariance that must be observed during an exercise. The kinematic model is expressed in terms of a set of kinematic rules. During the actual execution of a rehabilitation exercise, the similarity between the measured motion data and the model is computed in terms of their distances, which are then used as inputs to a fuzzy interference system to derive the overall quality of the execution. The integrated approach provides both a detailed categorical assessment of the overall execution of the exercise and the degree of adherence to individual kinematic rules.

scholarly journals Registration Error Analysis for Augmented Reality

1997 ◽  
Vol 6 (4) ◽  
pp. 413-432 ◽  
Author(s):  
Richard L. Holloway
Keyword(s):  
Augmented Reality ◽  
Error Analysis ◽  
Optical Distortion ◽  
Calibration Error ◽  
Head Tracking ◽  
System Delay ◽  
System Calibration ◽  
The Real ◽  
Registration Error ◽  
Real Environment

Augmented reality (AR) systems typically use see-through head-mounted displays (STHMDs) to superimpose images of computer-generated objects onto the user's view of the real environment in order to augment it with additional information. The main failing of current AR systems is that the virtual objects displayed in the STHMD appear in the wrong position relative to the real environment. This registration error has many causes: system delay, tracker error, calibration error, optical distortion, and misalignment of the model, to name only a few. Although some work has been done in the area of system calibration and error correction, very little work has been done on characterizing the nature and sensitivity of the errors that cause misregistration in AR systems. This paper presents the main results of an end-to-end error analysis of an optical STHMD-based tool for surgery planning. The analysis was done with a mathematical model of the system and the main results were checked by taking measurements on a real system under controlled circumstances. The model makes it possible to analyze the sensitivity of the system-registration error to errors in each part of the system. The major results of the analysis are: (1) Even for moderate head velocities, system delay causes more registration error than all other sources combined; (2) eye tracking is probably not necessary; (3) tracker error is a significant problem both in head tracking and in system calibration; (4) the World (or reference) coordinate system adds error and should be omitted when possible; (5) computational correction of optical distortion may introduce more delay-induced registration error than the distortion error it corrects, and (6) there are many small error sources that will make submillimeter registration almost impossible in an optical STHMD system without feedback. Although this model was developed for optical STHMDs for surgical planning, many of the results apply to other HMDs as well.

scholarly journals Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial

2021 ◽  
Vol 15 (5) ◽  
pp. 599-610
Author(s):  
Md. Moktadir Alam ◽  
◽  
Soichi Ibaraki ◽  
Koki Fukuda
Keyword(s):  
Present Model ◽  
Industrial Robot ◽  
Local Coordinate System ◽  
Kinematic Model ◽  
Kinematic Modeling ◽  
Positioning Accuracy ◽  
Rotary Axis ◽  
Model Based ◽  
Absolute Positioning ◽  
The Absolute

In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has been investigated extensively. The main objective of this study is to review the kinematic modeling theory for a six-axis industrial robot. In the form of a tutorial, this paper defines a local coordinate system based on the position and orientation of the rotary axis average lines, as well as the derivation of the kinematic model based on the coordinate transformation theory. Although the present model is equivalent to the classical D-H model, this study shows that a different kinematic model can be derived using a different definition of the local coordinate systems. Subsequently, an algorithm is presented to identify the error sources included in the kinematic model based on a set of measured end-effector positions. The identification of the classical D-H parameters indicates a practical engineering application of the kinematic model for improving a robot’s positioning accuracy. Furthermore, this paper presents an extension of the present model, including the angular positioning deviation of each rotary axis. The angular positioning deviation of each rotary axis is formed as a function of the axis’ command angles and the direction of its rotation to model the effect of the rotary axis backlash. The identification of the angular positioning deviation of each rotary axis and its numerical compensation are presented, along with their experimental demonstration. This paper provides an essential theoretical basis for the error source diagnosis and error compensation of a six-axis robot.

scholarly journals Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liangwen Wang ◽  
Weiwei Zhang ◽  
Caidong Wang ◽  
Fannian Meng ◽  
Wenliao Du ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Three Dimensional ◽  
Kinematic Modeling ◽  
Linkage Mechanism ◽  
Vector Method ◽  
Pressure Angle ◽  
End Point

In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.

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