scholarly journals Joint Constrained Differential Inverse Kinematics Algorithm for Serial Manipulators

2012 ◽  
Vol 56 (4) ◽  
pp. 95 ◽  
Author(s):  
Dániel András Drexler ◽  
István Harmati
Keyword(s):  
Inverse Kinematics ◽  
Serial Manipulators

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

On the Numerical Inverse Kinematics of Robotic Manipulators

1987 ◽  
Vol 109 (1) ◽  
pp. 8-13 ◽  
Author(s):  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Robotic Manipulators ◽  
Analysis Method ◽  
Computationally Efficient ◽  
Serial Manipulators ◽  
Position Analysis ◽  
Zero Position

Based on the sequential motion of joints, a method is developed for the numerical inverse kinematics of serial manipulators. This algorithm is stable and computationally efficient and uses the zero position analysis method for robotic manipulators.

On the Placement of Serial Manipulators

2000 ◽  
Author(s):  
Karim Abdel-Malek ◽  
Wei Yu
Keyword(s):  
Cost Function ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Working Environment ◽  
Robot Arm ◽  
Serial Manipulators ◽  
Surface Patches ◽  
Numerical Formulation ◽  
Fixed Reference ◽  
Position And Orientation

Abstract Criteria and implementation for the placement robot manipulators with the objective to reach specified target points are herein addressed. Placement of a serial manipulator in a working environment is characterized by defining the position and orientation of the manipulator’s base with respect to a fixed reference frame. The problem has become of importance in both the medical and manufacturing fields, where a robot arm must be appropriately placed with respect to targets that cannot be moved. A broadly applicable numerical formulation is presented. While other methods have used inverse kinematics solutions in their formulation for defining a locality for the manipulator base, this type of solution is difficult to implement because of the inherent complexities in determining al inverse kinematic solutions. The approach taken in this work is based on characterizing the placement forcing a cost function to impel the workspace envelope in terms of surface patches towards the target points and subject to functionality constraints, but that does not require the computation of inverse kinematics. The formulation and experimental code are demonstrated using a number of examples.

Kinematic Abstractions for General Manipulator Control

1999 ◽  
Author(s):  
Chetan Kapoor ◽  
Delbert Tesar
Keyword(s):  
Inverse Kinematics ◽  
Performance Criteria ◽  
Robot Kinematics ◽  
Software Components ◽  
Serial Manipulators ◽  
University Of Texas ◽  
Analysis And Design ◽  
Forward And Inverse Kinematics ◽  
Advanced Robotics ◽  
The University

Abstract Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper presents the development of a C++ class library that supports the forward and inverse kinematics of all possible geometries of serial manipulators. Object-oriented analysis and design is the primary software development methodology used. Application of this methodology led to the sub-division of the kinematics domain into forward, and inverse kinematics. Analysis of these sub-domains resulted in their further sub-division, identification of abstract components, development of classes, interface specifications, and finally implementation and testing. Examples demonstrating programming and extensibility of the components in the kinematics domain are given. This work was part of the development of the Operational Software Components for Advanced Robotics (OSCAR) at the Robotics Research Group of The University of Texas at Austin. OSCAR supports reusable software components for the control of advanced robotic manipulators. This includes mathematical constructs, kinematics, dynamics, fault-tolerance, performance criteria, manual controllers, and a variety of physical manipulators and simulations.

scholarly journals A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

2013 ◽  
Vol 23 (2) ◽  
pp. 373-382 ◽  
Author(s):  
Ignacy Dulęba ◽  
Michał Opałka
Keyword(s):  
Inverse Kinematics ◽  
Order Approximation ◽  
Reference Method ◽  
Serial Manipulators ◽  
Computational Costs ◽  
Marquardt Method ◽  
Levenberg Marquardt ◽  
Serial Robot ◽  
First Order Approximation ◽  
Pseudo Inverse

The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.

Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms

1992 ◽  
Vol 114 (3) ◽  
pp. 349-358 ◽  
Author(s):  
V. Kumar
Keyword(s):  
Inverse Kinematics ◽  
Robotic Manipulators ◽  
Parallel Manipulators ◽  
Parallel Structure ◽  
End Effector ◽  
Serial Manipulators ◽  
Parallel Scheme ◽  
Parallel Chain ◽  
Manipulation System ◽  
Dual Arm

This paper addresses the instantaneous kinematics of robotic manipulators which have an in-parallel scheme of actuation. Hybrid geometries which require both serial and parallel actuation are also considered. Multifingered grippers, walking vehicles, and multiarm manipulation systems in addition to robot arms with a parallel structure can be included in this broad category. The direct and inverse kinematics (and statics) of these devices is discussed with particular attention to applications in control. An analytical method based on screw system theory for obtaining transformation equations between joint and end-effector coordinates is described. Special configurations in which the end-effector gains or loses a degree of freedom, which are also known as geometric singularities, are an important consideration in this study. This is because the number of special configurations or singularities in the workspace is far more for in-parallel manipulators than that for serial manipulators. The special configurations for a planar dual-arm manipulation system, which can be kinematically modeled as a 5-R linkage, are discussed in some detail as an example.

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