scholarly journals Robot control and kinematic analysis with 6DoF manipulator using direct kinematic method

2021 ◽  
Vol 10 (1) ◽  
pp. 70-78
Author(s):  
Khalaf S Gaeid ◽  
Asaad F Nashee ◽  
Ibrahim A. Ahmed ◽  
Mohammed H. Dekheel
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Transformation Method ◽  
Robot System ◽  
Performance Specification ◽  
Model Based ◽  
Kinematic Method ◽  
Six Degree Of Freedom ◽  
And Control

The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along the end-effector path. MATLAB/SIMULINK with R2018b is used for the implementation of the model-based robot system. Simulation results showed that the robot rinks follow their references smoothly and precisely and ensure the effectiveness of direct kinematic algorithm in the analysis and control of the robotic field.

Dynamic Model of SCARA Robot

2013 ◽  
Vol 442 ◽  
pp. 476-479
Author(s):  
Jian Fang
Keyword(s):  
Dynamic Model ◽  
Kinematic Analysis ◽  
Reference Value ◽  
Kinematics Analysis ◽  
Robot System ◽  
Application Study ◽  
Scara Robot ◽  
Model Based ◽  
Actual Application

Design a robot system, it is the key technique to make kinematic analysis and build dynamic model based on the robot. This paper mainly provided introduction of the products dynamic model of four degree of freedoms SCARA robot which based on Kinematics analysis .The paper has certain reference value for actual application study the system with the same type.

Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

2013 ◽  
Vol 313-314 ◽  
pp. 937-940 ◽  
Author(s):  
Yong Guo Zhao ◽  
Yong Fei Xiao ◽  
Tie Chen
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Forward Kinematics ◽  
Kinematics Analysis

In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

Design Requirements for Autonomous Multivehicle Surface-Underwater Operations

2009 ◽  
Vol 43 (2) ◽  
pp. 61-72 ◽  
Author(s):  
Brian S. Bingham ◽  
Eric F. Prechtl ◽  
Richard A. Wilson
Keyword(s):  
Autonomous Vehicles ◽  
Data Transfer ◽  
Vertical Displacement ◽  
Degree Of Freedom ◽  
Unmanned Underwater Vehicles ◽  
Sea Trial ◽  
Performance Specification ◽  
Model Based ◽  
Design Requirements ◽  
Six Degree Of Freedom

AbstractFuture autonomous marine missions will depend on the seamless coordination of autonomous vehicles: unmanned surface vehicles (USVs), unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs). Such coordination will enable important inter-vehicle applications such as autonomous refueling, high-throughput data transfer and periodic maintenance to extend the mission length. A critical enabling capability is the autonomous capture, retrieval and deployment of a UUV from a USV platform. As a first step toward solving this problem, we propose a performance specification that quantifies the necessary motion compensation required to safely and reliably operate a USV and UUV in concert in the dynamic marine environment. To accomplish this, we use a model-based approach to predict the motion of typical vehicles under the influence of the same sea conditions. We summarize the predictions succinctly using a scalar performance metric, the peak-to-peak vertical displacement, as a function of vehicle type, sea-state and vehicle formation.To substantiate this model-based approach experimentally, we present sea-trial data and compare the empirical observations to model predictions. The results show that although simple three degree-of-freedom models do not capture the full complexity of an actual six degree-of-freedom ship motion, they can prove expedient in an engineering context for quantifying the design requirements of a USV-UUV capture, deployment and retrieval system.

Kinematic analysis of a 5-DOF hybrid-driven MR compatible robot for minimally invasive prostatic interventions

Robotica ◽  
2012 ◽  
Vol 30 (7) ◽  
pp. 1147-1156 ◽  
Author(s):  
Shan Jiang ◽  
Jie Guo ◽  
Shen Liu ◽  
Jun Liu ◽  
Jun Yang
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Material Selection ◽  
Forward Kinematics ◽  
Control Architecture ◽  
Prostate Brachytherapy ◽  
Design Requirements ◽  
And Control ◽  
Equivalent Diagram

SUMMARYThis paper introduces the design and kinematic analysis of a 5-DOF (multiple degree of freedom) hybrid-driven MR (Magnetic Resonance) compatible robot for prostate brachytherapy. It can slip the leash of template and rely on the high precise of MR imaging. After a brief introduction on design requirements of MR compatible robot, a description of our robot structure, material selection, hybrid-driven, and control architecture are presented. Secondly, the forward kinematics equations are obtained according to the equivalent diagram of this robot, and the actual workspace can be outlined. This will help the designer to determine whether this robot can be operated in the MR core without intervention with patient. And then, the inverse kinematics equations combined with trajectory planning are used to calculate the actuators movement. This will help the control system to manipulate the robotic accurately. Finally, vision based experiments on phantoms are used to verify the mechanism precision. As the results shown, the needle tip precision of mechanism is 0.9 mm in the general lab environment.

scholarly journals Generalized Code for Forward kinematic Analysis of 5-Axis Articulated Robotic Arm using Matlab Programming

2019 ◽  
Vol 8 (11) ◽  
pp. 3061-3065
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Low Cost ◽  
Target Position ◽  
Target Point ◽  
End Effectors ◽  
Forward Kinematic ◽  
And Control ◽  
Matlab Programming ◽  
The Given

Based on the requirements in industry, there is a need to design a low-cost robotic platform which is to be operated remotely through the gripper and control data. This should facilitate in avoiding human involvement in continuous and heavy environments. Kinematic analysis is one of the most important tasks in design of a manipulator. It involves many tasks like mathematical modeling of the manipulator using forward or inverse kinematics. Forward kinematics involves defining the target point or reach point using the joint angles (if it is rotary joint) and coordinates of the joint if it is prismatic joint. Inverse kinematics involves finding out the different possible ways of the joints to reach the given target point. Hence inverse kinematics yields more than one solution for a given target position of an end effectors, thereby it becomes more tedious task to calculate all the possible solutions manually. In this paper Matlab software is used for solving the forward kinematic analysis to calculate the possible joint link parameters to reach the target point using generalized programming

scholarly journals Optimal Trajectory Planning Analysis of Robot Manipulator Using PSO

2021 ◽  
Author(s):  
gurjeet singh ◽  
V. K. Banga
Keyword(s):  
Shortest Path ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Angular Displacement ◽  
Kinematic Model ◽  
Joint Space ◽  
Conventional Technique ◽  
Small Scale ◽  
Intermediate Point

Abstract For large- and small-scale industry, the major issue considered as to obtain the orientation and desire position of robot manipulators. The analysis of robotic manipulation requires two kinds of kinematic analysis namely inverse and forward kinematic analysis. This article aims to frame the inverse kinematic model of 5 DOF and 6 DOF robot manipulator. Planning of a movement flow has been designed followed by the evaluation of all the Denavit –Hartenberg (DH) parameter for the estimation of the desired orientation and position of the end effector. For the inverse Kinematics solution, conventional technique like DH notation, iteration and transformation were being utilized. The trajectory inverse kinematics minimization has been the main objective in this study and it has been achieved by Particle Swarm Optimization PSO. A quintic 5th order polynomial with joint space trajectory has been implemented in this study to find the paths for velocity and acceleration evaluation. Cartesian Trajectory is applied to the shortest path and get the transformation matrix for each intermediate point. Finally, the obstacle avoidance has been exhibited by PSO. The distance velocity, acceleration and angular displacement have been evaluated to analyse the shortest path and obstacle path avoidance.

scholarly journals Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1240-1266 ◽  
Author(s):  
Abhilash Nayak ◽  
Stéphane Caro ◽  
Philippe Wenger
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
End Effector ◽  
Inverse Kinematics Problem ◽  
Univariate Polynomial ◽  
Six Degree Of Freedom ◽  
Independent Parameters ◽  
Direct Kinematics

SUMMARYThis paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S–PM. Study parametrization is used to determine six independent parameters that characterize the S–PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in ℙ7. The inverse kinematics problem of the 3-RPS-3-SPR S–PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.

scholarly journals Trajectory tracking for a serial robot manipulator passing through singular configurations based on the adaptive kinematics Jacobian method

2008 ◽  
Vol 223 (3) ◽  
pp. 393-415 ◽  
Author(s):  
A T Hasan ◽  
A M S Hamouda ◽  
N Ismail ◽  
I Aris ◽  
M H Marhaban
Keyword(s):  
Trajectory Tracking ◽  
Robot Manipulator ◽  
Gear Train ◽  
Training Data ◽  
Training Dataset ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Serial Manipulators ◽  
Serial Robot ◽  
Six Degree Of Freedom

This paper discusses the use of artificial neural networks (ANNs) as a method of trajectory tracking control for a robotic system. Using an ANN does not require any prior knowledge of the kinematics model of the system being controlled; the basic idea of this concept is the use of the ANN to learn the characteristics of the robot system rather than to specify an explicit robot system model. In this approach, disadvantages of some schemes such as the fuzzy learning control, for example, have been elevated. Off-line training was performed for a geometric trajectory that is free of obstacles. Studying the kinematics Jacobian of serial manipulators by using ANNs has two problems: one of these is the selection of the appropriate configuration of the network and the other is the generation of a suitable training dataset. In this approach, although this is very difficult in practice, training data were recorded experimentally from sensors fixed on each joint to overcome the effect of kinematics uncertainties present in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in the gear train. Then two network configurations were compared to find the best configuration to be used. Finally, the simulation results were verified experimentally using a general six-degree-of-freedom (DOF) serial robot manipulator.

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