scholarly journals Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA

MENDEL ◽  
2017 ◽  
Vol 23 (1) ◽  
pp. 157-162
Author(s):  
Jaroslav Hrdina ◽  
Ales Navrat ◽  
Petr Vasik ◽  
Radomil Matousek
Keyword(s):  
Local Control ◽  
Inverse Kinematics ◽  
Snake Robot ◽  
Direct Kinematics ◽  
Omnidirectional Wheels

We describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only.

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

The Algorithm of Redundant Robotic Kinematics Based on Exponential Product

2011 ◽  
Vol 58-60 ◽  
pp. 1902-1907 ◽  
Author(s):  
Xin Fen Ge ◽  
Jing Tao Jin
Keyword(s):  
Real Time ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Product Formula ◽  
Real Time Control ◽  
Time Control ◽  
Direct Kinematics ◽  
Product Formulas

The intrinsically redundant series manipulator’s kinematics were studied by the exponential product formula of screw theory, the direct kinematics problem and Inverse kinematics problems were analyzed, and the intrinsically redundant series manipulator’s kinematics solution that based on exponential product formulas were proposed; the intrinsically redundant series manipulator’s kinematics is decomposed into several simple sub-problems, then analyzed sub-problem, and set an example to validate the correctness of the proposed method. Finally, comparing the exponential product formula and the D-H parameters, draw that they are essentially the same in solving the manipulator’s kinematics, so as to the algorithm of the manipulator’s kinematics based on exponential product formulas are correct, and the manipulator’s kinematics process based on exponential product formula is more simple and easier to real-time control of industrial.

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

2005 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

scholarly journals Smart Tendon Actuated Flexible Actuator

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Md. Masum Billah ◽  
Raisuddin Khan
Keyword(s):  
External Force ◽  
Analytical Method ◽  
Inverse Kinematics ◽  
End Effector ◽  
Snake Robot ◽  
Angular Deflection ◽  
Central Column ◽  
Gravitational Pull ◽  
Parallel Platform ◽  
Stewart Platforms

We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achievenDOFs withntendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

Back Propagation Method of Artificial Neural Networks for Finding the Position Control of Stanford Manipulator and Direct Kinematic Analysis of Elbow Manipulator

2018 ◽  
Vol 7 (1) ◽  
pp. 46 ◽  
Author(s):  
M. Sailaja ◽  
R. D. V. Prasad
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Network ◽  
Artificial Neural Networks ◽  
Inverse Kinematics ◽  
Back Propagation ◽  
Network Approach ◽  
Neural Network Approach ◽  
Artificial Neural ◽  
Direct Kinematics

Nowadays the robot technology is advancing rapidly and the use of robots in industries has been increasing. In designing a robot manipulator, kinematicsplays a vital role. The kinematic problem of manipulator control is divided into two types, direct kinematics and inverse kinematics. Robot inverse kinematics, which is important in robot path planning, is a fundamental problem in robotic control. Past solutions for this problem have been through the use of various algebraic or algorithmic procedures, which may be less accurate and time consuming. Artificial neural networks have the ability to approximate highly non-linear functions applied in robot control. The neural network approach deserves examination because of the fundamental properties of computation speed, and they can generalize untrained solutions. In the present work an attempt has been made to evaluate the problemof robot inverse kinematics of Stanford manipulator using artificial neural network approach. Finally two programs are written using C language to solve inverse kinematic problem of Stanford manipulator using Back propagation method of artificial neural network. In this network, the input layer has six nodes, the hidden layer has three nodes, and the output layer has two nodes. And also Elbow manipulator was modelled and its direct kinematics was analysed.

A Study of Calculation Method for Finger Joint Angular Displacement Based on the Finger Inverse Kinematics

2014 ◽  
Vol 697 ◽  
pp. 327-333
Author(s):  
Shi Yin Qiu ◽  
Rui Bo Yuan ◽  
Guan You Wang ◽  
Yong Da Ma ◽  
Zhen Ling Long ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Euclidean Distance ◽  
Angular Displacement ◽  
Finger Joint ◽  
Simple Method ◽  
Distal Interphalangeal ◽  
Dexterous Hand ◽  
Displacement Based ◽  
Angular Displacements ◽  
Direct Kinematics

A simple method for measuring and calculating the finger joint angular displacement was proposed to serve as the basis for designing dexterous hand and rehabilitation robot hand. The direct kinematics model and the inverse kinematics equation of the finger were established at the beginning of this paper. Then, the trajectory of the fingertip, from which the coordinates of the fingertip were extracted by using AutoCAD, was captured by camera. Finally, the trajectory coordinates of the fingertip were substituted into the inverse kinematics equations to solve the angular displacements of the proximal interphalangeal (PIP), distal interphalangeal (DIP) and metacarpophalangeal (MCP) joints. The calculating precision testing of the finger joint angular displacement needs to substitute the angular displacements calculated before into the direct kinematics equations of the finger to calculate the trajectory of the fingertip. Then, the average Euclidean distance between the calculated trajectory and the real trajectory was computed to test the calculating precision of the finger joint angular displacement. The average Euclidean distance of each fingers is less than 0.05mm, which proves the high calculating precision of the finger joint angular displacement and the efficiency of the method presented in this paper.

The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

2012 ◽  
Vol 591-593 ◽  
pp. 1593-1598
Author(s):  
Jian Jun Li ◽  
Yan Ding Wei ◽  
Xiao Jun Zhou
Keyword(s):  
Inverse Kinematics ◽  
Fundamental Problem ◽  
Training Data ◽  
Parallel Structure ◽  
Bp Network ◽  
Bp Networks ◽  
Testing Data ◽  
Relationship Of ◽  
The Relationship ◽  
Direct Kinematics

A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, get the direct kinematics solution. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely, and the error percentages are within the acceptable range.

Hybrid Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators

2005 ◽  
Author(s):  
David J. Giblin ◽  
Zongliang Mu ◽  
ZhongXue Gan ◽  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Closed Loop ◽  
Force Feedback ◽  
Position Control ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Loop Control ◽  
Joint Torques ◽  
Position Data ◽  
Direct Kinematics

This paper presents a new manipulation theory for controlling compliant motions of a robotic manipulator. In previous closed loop control methods, both direct kinematics and inverse kinematics of a manipulator must be resolved to convert feedback force and position data from Cartesian space to joint space. However, in many cases, the solution of direct kinematics in a parallel manipulator or the solution of inverse kinematics in a serial manipulator is not easily available. In this study, the force and position data are packed into one set of “motion feedback,” by replacing the force errors with virtual motion quantities, or one set of “force feedback,” by replacing motion errors with virtual force quantities. The joint torques are adjusted based on this combined feed back package. Since only Jacobian of direct kinematics or Jacobian of inverse kinematics is used in the control scheme, the computational complexity is reduced significantly. The applications of this theory are demonstrated in simulation experiments with both serial and parallel manipulators.

Algorithm for the Inverse Kinematics Calculation of Cross Rods Parallel Machine Tools Based on Lie-Algebras

2011 ◽  
Vol 697-698 ◽  
pp. 282-287
Author(s):  
X.F. Fang ◽  
Y.H. Tong ◽  
R.Y. Zhao ◽  
S.W. Zhang ◽  
Tong Yue Wang ◽  
...  
Keyword(s):  
Lie Algebras ◽  
Error Compensation ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Parallel Machine ◽  
Parallel Machine Tools ◽  
Exponential Formula ◽  
Parallel Machine Tool ◽  
Analysis Of Error ◽  
Direct Kinematics

In order to solve the problems that traditional kinematics model built by the method of D-H parameters can only reflect relative movements between adjacent components and can't express directly the spatial poses of every component relative to static platform, Lie-algebras is used this paper to establish the product of exponential formula of forward direct kinematics of every branch chains. The elimination method and Paden - kahan sub-problems are used to calculate joint variables. Then the quick and intuitive inverse algorithm of cross rods parallel machine tools is acquired. The algorithm provides reliable proofs for the analysis of error compensation, kinematics interference and singularity. Finally we prove our theory with an example of an actual parallel machine tool.

Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System

1996 ◽  
Vol 118 (4) ◽  
pp. 691-697 ◽  
Author(s):  
P. Chiacchio ◽  
S. Chiaverini ◽  
B. Siciliano
Keyword(s):  
Case Studies ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Coordinated Motion ◽  
Different Types ◽  
End Effectors ◽  
New Formulation ◽  
Direct Kinematics

A new formulation for direct kinematics of a system of two manipulators is presented This allows a straightforward description of general coordinated motion tasks in terms of meaningful absolute and relative variables An effective inverse kinematics algorithm is devised which exploits the above formulation where the task Jacobians are expressed in terms of the Jacobians of the single manipulators The scheme is extended to handle the presence of redundant degrees of freedom in the system Different types of grasp between the end effectors and a commonly held object are treated with minimum reformulation effort. Case studies are developed throughout the paper for a system of two PUMA 560 manipulators which illustrate the capabilities of the scheme.

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