scholarly journals Selected aspects of robin heart robot control

2013 ◽  
Vol 60 (4) ◽  
pp. 575-593 ◽  
Author(s):  
Adam Niewola ◽  
Leszek Podsedkowski ◽  
Piotr Wróblewski ◽  
Piotr Zawiasa ◽  
Marcin Zawierucha
Keyword(s):  
Coordinate System ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Production Engineering ◽  
Medical Robots ◽  
Surgical Tools ◽  
Position And Orientation ◽  
Pass Through ◽  
Sense Of Touch

Abstract The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity

A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

2010 ◽  
Vol 439-440 ◽  
pp. 396-400
Author(s):  
Xian Hua Li ◽  
Shi Li Tan ◽  
Wu Xin Huang
Keyword(s):  
Control System ◽  
Coordinate System ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Service Robot ◽  
Algebraic Solution ◽  
Vision Sensor ◽  
Solution Methods ◽  
Space Coordinate ◽  
Position And Orientation

This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.

Study on Post-Processing of Five-Axis Cnc Machining

2011 ◽  
Vol 141 ◽  
pp. 524-528
Author(s):  
Jing Zhang Zhi ◽  
Cheng Zu Ren ◽  
Jing Chuan Dong
Keyword(s):  
Coordinate System ◽  
Machine Tools ◽  
Cnc Machining ◽  
Cnc Machine Tools ◽  
Post Processing ◽  
Cnc Machine ◽  
Post Process ◽  
Non Linear ◽  
Position And Orientation ◽  
Five Axis

According to the feature of five-axis CNC machine tools’structure, do researches on post-process technique. By means of analysis of the kinetic model of five-axis CNC machine tools, Position and orientation of the tool in the workpiece coordinate system transforms to that of the machine coordinate system. Besides, Because of the rotation，Five-axises maching will produce the non-linear error．This article provides an easy algorithm to find the maximum non-linear error. Finally, an impeller, for example, simulates in the computer and machine by a 5-axis machine tool.

Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators

Robotica ◽  
1999 ◽  
Vol 17 (3) ◽  
pp. 303-312 ◽  
Author(s):  
Rafael Kelly ◽  
Angel Coello
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Experimental Tests ◽  
Injection Technique ◽  
Direct Drive ◽  
Energy Shaping ◽  
Theoretical Contribution ◽  
Cartesian Space ◽  
Local Asymptotic Stability ◽  
Position And Orientation

Transpose Jacobian-based controllers represent an attractive approach to robot control in Cartesian space. These controllers attempt to drive the robot end-effector posture to a specified desired position and orientation without solving either the inverse kinematics nor computing the robot inverse Jacobian. A wide class of transpose Jacobian-based regulators obtained from the energy shaping plus damping injection technique is analyzed in this paper. Our main theoretical contribution is the introduction of a novel analysis which does not invoke any assumption on Jacobian singularities to ensure local asymptotic stability for a family of nonredundant robots. The performance of four transpose Jacobian-based regulators is illustrated via experimental tests conducted on a direct-drive vertical arm.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

A Study on the Development of a Practical Postprocessor for 5-Axis Machining

2010 ◽  
Author(s):  
J. D. Hwang ◽  
H. C. Jung ◽  
K. B. Park ◽  
Y. G. Jung
Keyword(s):  
Machine Tools ◽  
Inverse Kinematics ◽  
General System ◽  
Visual Basic ◽  
Work Piece ◽  
Cutting Simulation ◽  
Rotary Axes ◽  
Data Formats ◽  
Data Vector ◽  
Nc Data

This paper deals with the development of a practical postprocessor for 5-axis machine tools. Recently, special 5-axis machine tools with non-orthogonal rotary axes as well as typical 5-axis machine tools with orthogonal rotary axes have been introduced. In the present work, the general equations of NC data for 5-axis configurations with non-orthogonal rotary axes are exactly expressed by the inverse kinematics, and a Windows-based postprocessor written in Visual Basic was developed according to the proposed algorithm. The developed postprocessor is a general system suitable for all kinds of 5-axis machine tools not only with orthogonal rotary axes but also with non-orthogonal rotary axes, thereby expanding the range of application of the developed postprocessor. In addition, through implementation of the developed postprocessor and verification by a cutting simulation and machining experiment, the effectiveness of the proposed algorithm was confirmed. Compatibility was improved by allowing exchange of data formats such as RTCP controlled NC data, Vector post NC data, and POF CL data, and convenience was increased by adding the function of work-piece origin offset. Consequently, a practical post-processor for 5-axis machining has been developed.

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

2016 ◽  
Vol 836 ◽  
pp. 37-41 ◽  
Author(s):  
Adlina Taufik Syamlan ◽  
Bambang Pramujati ◽  
Hendro Nurhadi
Keyword(s):  
Image Processing ◽  
Character Recognition ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Industrial Revolution ◽  
Training Data ◽  
Robotic Arm ◽  
End Effector ◽  
Precision And Accuracy ◽  
Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

A Real-Time C3 Continuous Tool Path Smoothing and Interpolation Algorithm for Five-Axis Machine Tools

2020 ◽  
Vol 142 (4) ◽  
Author(s):  
Qin Hu ◽  
Youping Chen ◽  
Xiaoliang Jin ◽  
Jixiang Yang
Keyword(s):  
Coordinate System ◽  
Real Time ◽  
Machine Tools ◽  
Tool Path ◽  
Maximum Deviation ◽  
Interpolation Algorithm ◽  
Tool Orientation ◽  
Path Smoothing ◽  
Tip Position ◽  
Five Axis

Abstract Local corner smoothing method is commonly adopted to smooth linear (G01) tool path segments in computer numerical control (CNC) machining to realize continuous motion at transition corners. However, because of the highly non-linear relation between the arc-length and the spline parameter, and the challenge to synchronize the tool tip position and tool orientation, real-time and high-order continuous five-axis tool path smoothing and interpolation algorithms have not been well studied. This paper proposes a real-time C3 continuous corner smoothing and interpolation algorithm for five-axis machine tools. The transition corners of the tool tip position and tool orientation are analytically smoothed in the workpiece coordinate system (WCS) and the machine coordinate system (MCS) by C3 continuous PH splines, respectively. The maximum deviation errors of the smoothed tool tip position and the tool orientation are both constrained in the WCS. An analytical synchronization algorithm is developed to guarantee the motion variance of the smoothed tool orientation related to the tool tip displacement is also C3 continuous. The corresponding real-time interpolation method is developed with a continuous and peak-constrained jerk. Simulation results verify that the maximum deviation errors caused by the tool path smoothing algorithm are constrained, and continuous acceleration and jerk of each axis are achieved along the entire tool path. Comparisons demonstrate that the proposed algorithms achieve lower amplitude and variance of acceleration and jerk when compared with existing methods. Experiments show that the proposed five-axis corner smoothing and interpolation algorithms are serially executed in real-time with 0.5-ms cycle.

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