scholarly journals Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method

2021 ◽  
Vol 13 (2) ◽  
pp. 125-134
Author(s):  
Fransisko Limanuel ◽  
Calvin Susanto ◽  
Ferry Rippun Gideon Manalu
Keyword(s):  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Intersection Point ◽  
Forward Kinematics ◽  
End Effector ◽  
Work Area ◽  
Kinematic Method ◽  
Point Equation ◽  
Articulated Robot ◽  
Forward Kinematic

This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position. Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9

Analyses of Error and Precision of 6-DOF Platform

2012 ◽  
Vol 591-593 ◽  
pp. 2081-2086 ◽  
Author(s):  
Rui Ren ◽  
Chang Chun Ye ◽  
Guo Bin Fan
Keyword(s):  
Inverse Kinematics ◽  
Newton Iteration ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
End Effector ◽  
C Programming Language ◽  
C Programming ◽  
Manufacturing Tolerances ◽  
Parallel Robotics ◽  
Forward Kinematic

A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded.

scholarly journals Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 31
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov ◽  
Yuri Rodionov
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Forward Kinematics ◽  
Rotational Angle ◽  
End Effector ◽  
Kinematic Chains ◽  
Position And Orientation ◽  
Manipulator Design ◽  
Forward Kinematic

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

scholarly journals Guaranteed Manipulator Precision via Interval Analysis of Inverse Kinematics

2013 ◽  
Author(s):  
Muhammed R. Pac ◽  
Micky Rakotondrabe ◽  
Sofiane Khadraoui ◽  
Dan O. Popa ◽  
Philippe Lutz
Keyword(s):  
Interval Analysis ◽  
Inverse Kinematics ◽  
Computational Analysis ◽  
Inverse Kinematic ◽  
Forward Kinematics ◽  
Uncertainty Modelling ◽  
Uncertainty Interval ◽  
Design Problems ◽  
End Effector ◽  
Precision Design

The paper presents a new methodology for solving the inverse problem of manipulator precision design. Such design problems are often encountered when the end-effector uncertainty bounds are given, but it is not clear how to allocate precision bounds on individual robot axes. The approach presented in this paper uses interval analysis as a tool for uncertainty modelling and computational analysis. In prior work, the exponential formulation of the forward kinematics map was extended to intervals. Here, we use this result as an inclusion function in the computation of solutions to set-valued inverse kinematic problems. Simulation results are presented in two case studies to illustrate how we can go from an uncertainty interval at the end-effector to a design domain of allowable uncertainties at individual joints and links. The proposed method can be used to determine the level of precision needed in the design of a manipulator such that a predefined end-effector precision can be guaranteed. Also, the approach is general as such it can be easily extended to any degree-of-freedom and kinematic configuration.

scholarly journals Mechanical Design and Kinematics Analysis of a Hydraulically Actuated Manipulator

2014 ◽  
Vol 8 (1) ◽  
pp. 457-461
Author(s):  
Xuewen Rong ◽  
Rui Song ◽  
Hui Chai ◽  
Xiaolin Ma
Keyword(s):  
Inverse Kinematics ◽  
Mechanical Design ◽  
Transformation Method ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
End Effector ◽  
Hydraulically Actuated ◽  
Inverse Solutions ◽  
Six Dof ◽  
Forward Kinematic

This paper gives a mechanism design of a six DOF hydraulically actuated manipulator firstly. Then its DH frames and link parameters are given. Next, its forward kinematic equations are derived according to homogeneous transformation method. Fourthly, the analytical solutions of its inverse kinematics are solved by given the position and posture of the end-effector simultaneously. The posture of the end-effector is given with three z-y-z Euler angles for they have obvious geometry meanings and are easy to be measured. In addition, the correctness of the inverse kinematic equations is verified in Simulink by comparing many sets of randomly produced joint variables in workspace and their corresponding inverse solutions.

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.

Inverse Kinematics of Discretely-Actuated Manipulators Within a Bounded Grid Element

2006 ◽  
Author(s):  
Deanne C. Kemeny ◽  
Raymond J. Cipra
Keyword(s):  
Inverse Kinematics ◽  
Lower Cost ◽  
Robotic Manipulators ◽  
Forward Kinematics ◽  
End Effector ◽  
Grid Element ◽  
The Third ◽  
Inverse Kinematics Problem

Discretely-actuated manipulators are defined in this paper as serial planar chains of many links and are an alternative to traditional robotic manipulators, where continuously variable actuators are replaced with discrete, or digital actuators. Benefits include reduced weight and complexity, and predictable manipulation at lower cost. Challenges to using digital manipulators are the discrete end-effector positions which make the inverse kinematics problem difficult to solve. Furthermore, for a specific application position in the manipulator workspace, there may not be an actual end-effector position. This research has relaxed the inverse kinematics problem around this challenge making each application position an element of a grid in which the end effector must reach. There may be many possible end-effector positions that would reach the element goal, the solution uses the first one that is found. The inverse kinematics solution assumes the assembly configuration of the digital manipulator is already solved specifically for the application grid. The Jacobian function, normally used to solve joint velocities, can be used to identify the exact shift vectors that are used for the inverse kinematics. Three methods to solve this problem are discussed and the third method was implemented as a four-part solution that is a directed and manipulated search for the inverse kinematics solution where all four solutions may be needed. A discussion of forward kinematics and the Jacobian function in relation to digital manipulators is also presented.

Kinematics Analysis of a Hot-Line Live Working Manipulator

2014 ◽  
Vol 610 ◽  
pp. 28-34 ◽  
Author(s):  
Xiao Lin Ma ◽  
Hui Chai ◽  
Yun Jiang Li
Keyword(s):  
Analytical Solutions ◽  
Inverse Kinematics ◽  
Transformation Method ◽  
Forward Kinematics ◽  
Euler Angles ◽  
Kinematics Analysis ◽  
Hydraulic Actuator ◽  
End Effector

This paper introduces the development of hot-line live working manipulators and gives a new configuration manipulator driven by hydraulic actuator firstly. Then, its forward kinematics equations are derived with homogenous transformation method. Finally, the analytical solutions of its inverse kinematics are solved under the condition that the posture of the end-effector is known and given with z-y-z Euler angles.

Motion Simulation of a Hybrid Parallel Robot for Ankle Rehabilitation

2014 ◽  
Author(s):  
Hamid Rakhodaei ◽  
Mozafar Saadat ◽  
Alireza Rastegarpanah
Keyword(s):  
Parallel Robot ◽  
Hybrid Structure ◽  
Inverse Kinematic ◽  
Motion Simulation ◽  
Stroke Patients ◽  
End Effector ◽  
Ankle Rehabilitation ◽  
Motion Paths ◽  
Experimental Values ◽  
Forward Kinematic

This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3-DOF parallel mechanism that is attached on top of the 6-DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector’s position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Vol 129 (8) ◽  
pp. 793-798 ◽  
Author(s):  
Shi Zhi Xin ◽  
Luo Yu Feng ◽  
Hang Lu Bing ◽  
Yang Ting Li
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Forward Kinematics ◽  
The Real ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Design and Analysis of a Biomimetic Wire-Driven Robot Arm

2011 ◽  
Author(s):  
Zheng Li ◽  
Ruxu Du ◽  
Man Cheong Lei ◽  
Song Mei Yuan
Keyword(s):  
Inverse Kinematics ◽  
Geometric Analysis ◽  
Forward Kinematics ◽  
Positioning Error ◽  
Robot Arm ◽  
End Effector ◽  
Fixed Node

Inspired by the octopus and snakes, we designed and built a wire-driven serpentine robot arm. The robot arm is made of a number of rigid nodes connected by two sets of wires. The rigid nodes act as the backbone while the wires work as the muscle, which enables the 2 DOF bending. The forward kinematics is derived using D-H method, while the inverse kinematics and its workspace can be solved by geometric analysis. To validate the design, a prototype is built. It is found that the positioning error of the robot arm is generally less than 2%. The advantage of this robot arm is that with several nodes fixed the rest nodes are still controllable. The positioning error is smaller when the fixed node is closer to the end effector.

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