Real-Time Inverse Kinematics of the Human Arm

A simple inverse kinematics procedure is proposed for a seven degree of freedom model of the human arm. Two schemes are used to provide an additional constraint leading to closed-form analytical equations with an upper bound of two or four solutions, Multiple solutions can be evaluated on the basis of their proximity from the rest angles or the previous configuration of the arm. Empirical results demonstrate that the procedure is well suited for real-time applications.

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Economic Capital Modeling Closed Form Approximation for Real-Time Applications

SSRN Electronic Journal ◽

10.2139/ssrn.2444549 ◽

2014 ◽

Author(s):

Thomas Ribarits ◽

Axel Clement ◽

Heikki Sepppll ◽

Hua Bai ◽

Ser-Huang Poon

Keyword(s):

Closed Form ◽

Real Time ◽

Economic Capital ◽

Real Time Applications ◽

Closed Form Approximation

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Automated inverse-kinematics for robot off-line programming

Robotica ◽

10.1017/s0263574700018178 ◽

1994 ◽

Vol 12 (1) ◽

pp. 45-53 ◽

Cited By ~ 1

Author(s):

W.Edward Red ◽

Shao-Wei Gongt

Keyword(s):

Closed Form ◽

Inverse Kinematics ◽

Broad Class ◽

Inverse Kinematic ◽

Degree Of Freedom ◽

Lower Degree ◽

Serial Robots ◽

Automated Methods ◽

Kinematic Solution

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-offreedom robots.

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Robotic TCF and rigid-body calibration methods

Robotica ◽

10.1017/s0263574797000763 ◽

1997 ◽

Vol 15 (6) ◽

pp. 633-644 ◽

Cited By ~ 2

Author(s):

Xuguang Wang ◽

Edward Red

Keyword(s):

Rigid Body ◽

Closed Form ◽

Real Time ◽

Inverse Kinematics ◽

Geometric Distortion ◽

Estimation Methods ◽

Manufacturing Cell ◽

Calibration Methods ◽

Position And Orientation ◽

End Effectors

For off-line programming to work, systematic methods must be developed to account for non-ideal performance of the parts and devices in the manufacturing cell. Although much of the literature focuses on robot inaccuracy, this paper considers practical methods for the tool control frame (TCF) calibration and rigid-body compensation required to close the inverse kinematics loop for target driven tasks.In contrast to contemporary estimation methods, a closed-form, easily automated, solution is introduced for calibrating the position and orientation (pose) of orthogonal end-effectors when the distal robot joint is revolute. This paper also considers methods for measuring and compensating the small rigid-body perturbations that result from non-repeatable part delivery systems or from geometric distortion. These methods are designed to eliminate rθ error from the rigid-body prediction and can be conducted in real-time. Without accurate TCF calibration and rigid-body compensation, even the most accurate robot will fail to complete an off-line programmed task if the task tolerances are stringent.

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The Realization of Multiple Degree of Freedom Prosthetic Method of Random Target Location in Embeded System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.220-223.1977 ◽

2012 ◽

Vol 220-223 ◽

pp. 1977-1981

Author(s):

Bing Hui Fan ◽

Peng Ji ◽

Jian Gong Li

Keyword(s):

Embedded System ◽

Real Time ◽

Inverse Kinematics ◽

Target Location ◽

Three Dimensional ◽

Degree Of Freedom ◽

Embeded System ◽

Inverse Kinematics Problem ◽

The Embedded System ◽

Object Relative

In order to make prosthetic work in unstructured environments in real time to solve the inverse kinematics problem, the coordinates of the location of the end of the workspace of the manipulator rod needed to know. The spatial orientation value of random object relative to prosthesis basic coordinates be calculated in real time is realized in the embedded system by means of two three-dimensional attitude sensors and one laser ranging sensor.This method can provide the necessary raw information for the multiple degree of freedom prosthesis which works in an unstructured environment to complete the operational tasks assigned.

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New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra Sensors

Journal of Mechanical Design ◽

10.1115/1.2826872 ◽

1996 ◽

Vol 118 (2) ◽

pp. 214-219 ◽

Cited By ~ 32

Author(s):

Kilryong Han ◽

Wankyun Chung ◽

Y. Youm

Keyword(s):

Closed Form ◽

Real Time ◽

Parallel Manipulators ◽

Stewart Platform ◽

Forward Kinematics ◽

Numerical Examples ◽

Resolution Scheme ◽

Real Time Applications ◽

Forward Kinematic Problem ◽

Forward Kinematic

This paper presents a new closed-form resolution scheme of the forward kinematics of parallel manipulators based on two concepts, local structurization and mechanism partition. This scheme is applied to 6-DOF Stewart platform manipulators and the effectiveness of this scheme is verified through numerical examples. It is shown that one extra sensor is sufficient for both 3-3 SPM and 6-3 SPM to exactly resolve the forward kinematic problem (FKP) in closed form and two sensors for 6-6 SPM. In previous research, at least three extra sensors were needed for closed-form resolution of the FKP for 6-6 SPM. Consequently, the new resolution scheme is efficient to implement and easy for real-time applications for the control of parallel manipulators.

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Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra

Journal of Mechanisms and Robotics ◽

10.1115/1.4024239 ◽

2013 ◽

Vol 5 (3) ◽

Cited By ~ 26

Author(s):

Zhongtao Fu ◽

Wenyu Yang ◽

Zhen Yang

Keyword(s):

Real Time ◽

Geometric Algebra ◽

Multiple Solutions ◽

Inverse Kinematics ◽

Robot Manipulators ◽

Kinematic Modeling ◽

Highly Nonlinear ◽

Inverse Kinematics Problem ◽

Painting Robot ◽

Serial Robot

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

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Inverse Solution and Optimal Concept Rethink from Human Operation to Industrial Redundant Manipulator

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.541-542.1140 ◽

2014 ◽

Vol 541-542 ◽

pp. 1140-1145 ◽

Cited By ~ 2

Author(s):

Mei Ling Wang ◽

Min Zhou Luo ◽

Xin Lin

Keyword(s):

Real Time ◽

Computational Efficiency ◽

Inverse Kinematics ◽

Joint Angle ◽

Inverse Solution ◽

Joint Movement ◽

Redundant Manipulator ◽

Joint Angles ◽

Human Arm ◽

Dual Arm

More and more dual arm robots with redundant manipulator are introduced in industrial fields. Here we focus on this special structure with 7-DOF redundant manipulator, an exhibit analytical and optimal concept was proposed. The formula derivations of inverse kinematics showed that when the redundant joint angle has been obtained, the remaining six joint angles can be derived analytically, and there are eight sets of inverse solution for one giving redundant joint angle. Reversed thinking the joint movement habits, patterns, and frequency of human arm operations, an optimal concept was presented to gain a real time computational efficiency of a direct inverse solution while also achieving the purpose of application.

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