Forward Kinematic Analysis of JACO2 Robotic Arm Towards Implementing a Grapes Harvesting Robot

2020 ◽  
Author(s):  
Theodore Pachidis ◽  
Christos Sgouros ◽  
Vassilis G. Kaburlasos ◽  
Eleni Vrochidou ◽  
Theofanis Kalampokas ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Robotic Arm ◽  
Forward Kinematic ◽  
Harvesting Robot

scholarly journals Kinematic Analysis and Simulation of an Orange Harvesting Robot

2020 ◽  
Author(s):  
Sadaf Zeeshan ◽  
Tauseef Aized
Keyword(s):  
Path Planning ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Probabilistic Approach ◽  
Kinematic Model ◽  
Algebraic Method ◽  
Agricultural Robots ◽  
Uneven Terrain ◽  
Forward Kinematic ◽  
Harvesting Robot

Abstract One of the most challenging areas in robot design is its kinematic analysis for proper and efficient path planning. In agricultural robots, this study is even more crucial due to the uneven terrain and unstructured environment. In agricultural robots, work has been done on fruit harvesting robots yet its commercial recognition is still underway. Further research needs to be done in this field to make the fruit harvesting robots more commercially acceptable. In this paper, a 6 degree of freedom (DOF) orange harvesting robot is designed and its kinematic analysis is done. Forward kinematic is done using Denavit-Hartenberg (DH) parameters while the inverse kinematics is done using algebraic method. The calculated formulas are verified by simulation on RoboAnalyzer software. The algorithm for inverse kinematics using probabilistic approach did not generate any error and worked successfully generating 16 results within the workspace. The simulated dynamic results also supported the kinematic model. The kinematic study validates the model design and calculations, whereas, its simulation verifies the path planning and reachability of oranges on the trees within the confined workspace.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic

scholarly journals Forward kinematic analysis of Dobot using closed-loop method

2020 ◽  
Vol 9 (3) ◽  
pp. 153
Author(s):  
Javier Dario Sanjuan De Caro ◽  
Mohammad Rahman ◽  
Ivan Rulik
Keyword(s):  
Analytical Solution ◽  
Kinematic Analysis ◽  
Closed Loop ◽  
Dynamical Model ◽  
Forward Kinematics ◽  
Loop Method ◽  
Serial Robots ◽  
Forward Kinematic

Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.

Novel design and kinematic analysis of a 5-DOFs robotic arm with three-fingered gripper for physical therapy

2020 ◽  
Vol 28 ◽  
pp. 2121-2132 ◽  
Author(s):  
Jyotindra Narayan ◽  
Shivansh Mishra ◽  
Gaurav Jaiswal ◽  
Santosha K. Dwivedy
Keyword(s):  
Physical Therapy ◽  
Kinematic Analysis ◽  
Robotic Arm ◽  
Novel Design

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

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