scholarly journals Research on kinematic structure of a redundant serial industrial robot arm

2016 ◽  
Vol 19 (3) ◽  
pp. 24-33
Author(s):  
Hung Minh Vu ◽  
Trung Quang Trinh ◽  
Thang Quoc Vo
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Kinematic Structure ◽  
Robot Arm ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.

Posture Prediction Versus Inverse Kinematics

2001 ◽  
Author(s):  
Karim Abdel-Malek ◽  
Wei Yu ◽  
Zan Mi ◽  
E. Tanbour ◽  
M. Jaber
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Human Performance ◽  
Inverse Kinematic ◽  
Cost Functions ◽  
Optimization Approach ◽  
Final Position ◽  
Serial Robot ◽  
Posture Prediction

Abstract Inverse kinematics is concerned with the determination of joint variables of a manipulator given its final position or final position and orientation. Posture prediction also refers to the same problem but is typically associated with models of the human limbs, in particular for postures assumed by the torso and upper extremities. There has been numerous works pertaining to the determination and enumeration of inverse kinematic solutions for serial robot manipulators. Part of these works have also been directly extended to the determination of postures for humans, but have rarely addressed the choice of solutions undertaken by humans, but have focused on purely kinematic solutions. In this paper, we present a theoretical framework that is based on cost functions as human performance measures, subsequently predicting postures based on optimizing one or more of such cost functions. This paper seeks to answer two questions: (1) Is a given point reachable (2) If the point is reachable, we shall predict a realistic posture. We believe that the human brain assumes different postures driven by the task to be executed and not only on geometry. Furthermore, because of our optimization approach to the inverse kinematics problem, models with large number of degrees of freedom are addressed. The method is illustrated using several examples.

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.

Optimal Design of the Control System for an Industrial Robot Using DOE Technique and Regression Model

2014 ◽  
Vol 658 ◽  
pp. 626-631
Author(s):  
Monica Enescu ◽  
Cătălin Alexandru
Keyword(s):  
Control System ◽  
Optimal Design ◽  
Degrees Of Freedom ◽  
Goodness Of Fit ◽  
Industrial Robot ◽  
Regression Function ◽  
Inverse Kinematic ◽  
Linear Regression Models ◽  
End Effector ◽  
Revolute Joints

This paper approaches the optimization of the control system for an industrial robot with 6 axes (degrees of freedom), using design of experiments (DOE) and multiple linear regression models. The design objective refers to the desired trajectory of the end-effector, the aim being to minimize the difference between the desired (imposed) and current (measured) angles in the revolute joints of the robot. The correlation between the imposed trajectory of the end-effector and the corresponding angular motions in the six revolute joints is obtained through the inverse kinematic analysis. The characteristic parameters of the controllers are used as design variables in the optimization. The optimal design is based on the DOE Screening investigation strategy with the Full Factorial design type. This design was chosen in order to evaluate the effect of the factors and of their interaction on trajectory, and the levels of these factors needed to produce an optimal trajectory. By comparing actual data with data after optimization, it shows that the regression function is correct (in terms of goodness of fit). The dynamic model of the robotic system was developed in mechatronic concept, by integrating the mechanical device (designed in ADAMS/View) and the control system (MATLAB/Simulink) at the virtual prototype level. The optimization study is performed by using ADAMS/Insight.

scholarly journals Pa<sup>2</sup> kinematic bond in translational parallel manipulators

2018 ◽  
Vol 9 (1) ◽  
pp. 25-39 ◽  
Author(s):  
Alfonso Hernández ◽  
Erik Macho ◽  
Mónica Urízar ◽  
Víctor Petuya ◽  
Zhen Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
The Other ◽  
Practical Application ◽  
Promising Alternative ◽  
Revolute Joints ◽  
Prismatic Joints

Abstract. The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.

Dynamics of redundant robots – inverse solutions

Robotica ◽  
1986 ◽  
Vol 4 (4) ◽  
pp. 263-267 ◽  
Author(s):  
Ronald L. Huston ◽  
Timothy P. King
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Solution Algorithm ◽  
Redundant Robot ◽  
Redundant Robots ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Inverse Solutions ◽  
Natural Dynamics ◽  
Least Energy

SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.

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

2006 ◽  
Author(s):  
Zhi Xin Shi ◽  
Yu Feng Luo ◽  
Lu Bing Hang ◽  
Ting Li Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Algebraic Method ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Parallel Mechanisms ◽  
Simple Method ◽  
Inverse Kinematics Problem ◽  
Serial Robot

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 one-dimension searching algorithm. 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; (2) Compared with 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.

A Method of Inverse Kinematics Solution for a Class of Robotic Manipulators

1997 ◽  
Author(s):  
Tuna Balkan ◽  
M. Kemal Özgören ◽  
M. A. Sahir Arikan ◽  
H. Murat Baykurt
Keyword(s):  
Nonlinear Equation ◽  
Analytical Method ◽  
Multiple Solutions ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Singular Configurations ◽  
Inverse Kinematics Problem ◽  
Joint Variable

Abstract A semi-analytical method and a computer program are developed for inverse kinematics solution of a class of robotic manipulators, in which four joint variables are contained in wrist point equations. For this case, it becomes possible to express all the joint variables in terms of a joint variable, and this reduces the inverse kinematics problem to solving a nonlinear equation in terms of that joint variable. The solution can be obtained by iterative methods and the remaining joint variables can easily be computed by using the solved joint variable. Since the method is manipulator dependent, the equations will be different for kinematically different classes of manipulators, and should be derived analytically. A significant benefit of the method is that, the singular configurations and the multiple solutions indicated by sign ambiguities can be determined while deriving the inverse kinematic expressions. The developed method is applied to a six-revolute-joint industrial robot, FANUC Arc Mate Sr.

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.

scholarly journals A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Huiping Shen ◽  
Damien Chablat ◽  
Boxiong Zeng ◽  
Ju Li ◽  
Guanglei Wu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Design Theory ◽  
Degrees Of Freedom ◽  
Analytic Solutions ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Topological Design ◽  
Prismatic Joints ◽  
Topological Characteristics ◽  
Three Degrees Of Freedom

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

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