scholarly journals Neuromorphic NEF-Based Inverse Kinematics and PID Control

2021 ◽  
Vol 15 ◽  
Author(s):  
Yuval Zaidel ◽  
Albert Shalumov ◽  
Alex Volinski ◽  
Lazar Supic ◽  
Elishai Ezra Tsur
Keyword(s):  
Pid Control ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Target Position ◽  
Inverse Kinematic ◽  
Robotic Control ◽  
High Performing ◽  
Neuromorphic Hardware ◽  
6 Degrees Of Freedom

Neuromorphic implementation of robotic control has been shown to outperform conventional control paradigms in terms of robustness to perturbations and adaptation to varying conditions. Two main ingredients of robotics are inverse kinematic and Proportional–Integral–Derivative (PID) control. Inverse kinematics is used to compute an appropriate state in a robot's configuration space, given a target position in task space. PID control applies responsive correction signals to a robot's actuators, allowing it to reach its target accurately. The Neural Engineering Framework (NEF) offers a theoretical framework for a neuromorphic encoding of mathematical constructs with spiking neurons for the implementation of functional large-scale neural networks. In this work, we developed NEF-based neuromorphic algorithms for inverse kinematics and PID control, which we used to manipulate 6 degrees of freedom robotic arm. We used online learning for inverse kinematics and signal integration and differentiation for PID, offering high performing and energy-efficient neuromorphic control. Algorithms were evaluated in simulation as well as on Intel's Loihi neuromorphic hardware.

Design of Compact 6-DOF Precision Aligner for Micro-Assembly

2009 ◽  
Author(s):  
Yong-Hwan Yoo ◽  
Yeon wook Sung ◽  
Soo-Hun Lee ◽  
Min-Sung Hong ◽  
Moon G. Lee ◽  
...  
Keyword(s):  
High Resolution ◽  
Pid Control ◽  
Degrees Of Freedom ◽  
Voice Coil Motor ◽  
Micro Scale ◽  
Micro Assembly ◽  
Kinematic Design ◽  
6 Degrees Of Freedom

This work will develop a 6 Degrees Of Freedom (DOF) precision aligner with a small size and a high resolution for the assembly of the micro-scale parts used in mobile electronics. The arrangement of actuators in the aligner is symmetrical, based on kinematic design. A VCM (Voice Coil Motor) actuator that is small and reliable will be applied to this aligner system. This paper presents the combination of two modules to form the mechanism for the 6-DOF precision aligner. The first is a stage that can control XY θZ motion, while the second can control Z motion, i.e. Z tilt motion. According to its specifications, it is expected to satisfy precision requirements. Several tests will be carried out to confirm the specifications with PID control.

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 analysis of a tendon-based MRI-compatible surgery robot for transperineal prostate needle placement

2014 ◽  
Vol 229 (2) ◽  
pp. 335-348 ◽  
Author(s):  
Shan Jiang ◽  
Fude Sun ◽  
Jiansheng Dai ◽  
Jun Liu ◽  
Zhiyong Yang
Keyword(s):  
Magnetic Resonance Imaging ◽  
Magnetic Resonance ◽  
Degrees Of Freedom ◽  
Virtual Work ◽  
Inverse Kinematic ◽  
Surgical Robot ◽  
Resonance Imaging ◽  
Joint Torques ◽  
Reachable Workspace ◽  
6 Degrees Of Freedom

Tendon-based transmission has significant advantages in the development of a surgical robot, which is fully magnetic resonance imaging compatible and can work dexterously in the very limited space inside magnetic resonance imaging core. According to the requirements of magnetic resonance imaging compatibility, a novel 6 degrees of freedom tendon-based surgical robot composed of three independent modules is developed in this paper. After a brief introduction to the robot, the direct and inverse kinematic equations are deduced by applying the concept of screw displacements, and the reachable workspace of the robot is calculated. As to the static force analysis, we apply the principle of virtual work to derive a transmission between the equivalent joint torques and the tendon forces. By the use of the pseudoinverse technique, a systematic method is developed for the resolution of redundant tendon forces.

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.

scholarly journals Implementasi Metode Inverse Kinematics Pada Gerakan Animasi 3D Karakter Manusia

Respati ◽  
2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Ahmad Zaid Rahman, Ema Utami, Hanif Al Fatta
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Kinematic

Perkembangan industri animasi saat ini, khususnya animasi digital yang dibuat pada umumnya sudah menggunakan bantuan dari komputer telah menjadi salah satu industri yang paling menguntungkan dengan angka pertumbuhan yang tinggi di setiap tahunnya. Model gerakan yang digunakan dalam proses animasi dapat dibuat dengan berbagai macam metode, salah satu metodenya adalah inverse kinematic. Metode ini diharapkan dapat menghasilkan gerak animasi yang lebih akurat. Penelitian ini menguji metode inverse kinematics dan diimplementasikan kedalam animasi 3D karakter manusia. Pada proses Pengujian akan dilakukan oleh animator professional dengan menganimasikan karakter 3 Dimensi yang sudah diberi parameter tolak ukur kebebasan tulang (Degrees of Freedom) dan menganimasikan karakter 3 Dimensi yang tidak menggunakan tolak ukur kebebasan tulang (Degrees of Freedom). Selanjutnya ditahap pengujian setelah dilakukan penganimasian pada karakter 3 Dimensi, yaitu membandingkan sudut yang terbentuk dari setiap sendi pada bagian tubuh animasi 3 Dimensi yang telah dibuat menggunakan metode inverse kinematic dengan video referensi yang berupa video live shoot. Pengujian ini penulis lakukan bertujuan untuk mengetahui berapa akurasi kemiripan dari kedua video tersebut. Software yang digunakan untuk mengukur sudut gerak sendi yaitu Tracker. Hasil dari penelitian ini ialah, untuk memberikan solusi agar pembuatan animasi 3D dapat lebih akurat dengan memperhatikan tolak ukur kebebasan tulang (Degrees of Freedom) sesuai anatomi pada manusia dan menggunakan metode inverse kinematics  sehingga lebih akurat.Kata kunci—Animasi 3D, Gerakan, Inverse Kinematics, Rangka manusia, Sendi .

Structure design and kinematics of a robot manipulator

Robotica ◽  
1988 ◽  
Vol 6 (4) ◽  
pp. 299-309 ◽  
Author(s):  
Kesheng Wang ◽  
Terje K. Lien
Keyword(s):  
Numerical Solution ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Closed Form Solution ◽  
Form Solution ◽  
Structure Design ◽  
General Algorithm ◽  
6 Degrees Of Freedom

SUMMARYIn this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.

scholarly journals Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics

2019 ◽  
Vol 8 (4) ◽  
Author(s):  
Muhammad Aziz Muslim ◽  
Mochammad Rusli ◽  
Achnafian Rafif Zufaryansyah ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Mobile Robot ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Revolution ◽  
Research Direction ◽  
Wave Pattern ◽  
Gait Pattern ◽  
Sine Wave ◽  
Inverse Kinematic ◽  
Movement System

As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

Fuzzy Immune PID Control for 6-Degrees of Freedom Parallel Platform

2012 ◽  
Vol 6 (1) ◽  
pp. 836-840
Author(s):  
Dequan Zhu ◽  
Tao Mei ◽  
Lei Sun
Keyword(s):  
Pid Control ◽  
Degrees Of Freedom ◽  
Parallel Platform ◽  
6 Degrees Of Freedom

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

2013 ◽  
Vol 455 ◽  
pp. 533-538
Author(s):  
Edris Farah ◽  
Shao Gang Liu
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Surgical Robot ◽  
Decoupling Method ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism

2018 ◽  
Author(s):  
Sinem Gozde Defterli ◽  
Yunjun Xu
Keyword(s):  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Visual Servoing ◽  
Target Position ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Servo Control ◽  
Biological Phenomenon ◽  
End Effector ◽  
Motion Camouflage

For a lately constructed disease detection field robot, the segregation of unhealthy leaves from strawberry plants is a major task. In field operations, the picking mechanism is actuated via three previously derived inverse kinematic algorithms and their performances are compared. Due to the high risk of rapid and unexpected deviation from the target position under field circumstances, some compensation is considered necessary. For this purpose, an image-based visual servoing method via the camera-in-hand configuration is activated when the end-effector is nearby to the target leaf subsequent to performing the inverse kinematics algorithms. In this study, a bio-inspired trajectory optimization method is proposed for visual servoing and the method is constructed based on a prey-predator relationship observed in nature (“motion camouflage”). In this biological phenomenon, the predator constructs its path in a certain subspace while catching the prey. The proposed algorithm is tested both in simulations and in hardware experiments.

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