scholarly journals Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method

2018 ◽  
Vol 9 (1) ◽  
pp. 71-74
Author(s):  
Tamás Faitli ◽  
József Tar
Keyword(s):  
Fixed Point ◽  
Transformation Method ◽  
Inverse Kinematic ◽  
Point Transformation ◽  
Degree Of Freedom ◽  
Robot Arm ◽  
Transformation Matrices ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

Abstract While the forward kinematic task of robots can be solved easily through homogenous transformation matrices, the inverse kinematic task leads to difficulties as the construction of the system becomes more complex. In this paper, a solution has been worked out for a three Degree-of-Freedom (DOF) robot-arm based on recent research, by the use of a novel, fixed-point transformation based technique.

VGT-Based Gimbals: Practical Construction and General Theory

1992 ◽  
Author(s):  
B. Padmanabhan ◽  
P. H. Tidwell ◽  
R. J. Salerno ◽  
C. F. Reinholtz
Keyword(s):  
General Theory ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Joint Design ◽  
Heavy Loads ◽  
Forward Kinematic ◽  
Three Degree Of Freedom ◽  
Two Bodies

Abstract A gimbal is a device used to precisely control the orientation between two bodies. Conventional gimbals are designed as actuated Hooke’s couplings and are not generally able to support heavy loads. This paper provides the general theory and some construction details of a rigid three-degree-of-freedom, truss-type gimbal. This gimbal can be used to support and position antennae, telescopes and other heavy structures. The forward kinematic, inverse kinematic and workspace analyses are provided, and joint design details are discussed.

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

1994 ◽  
Vol 116 (2) ◽  
pp. 614-621 ◽  
Author(s):  
Yong-Xian Xu ◽  
D. Kohli ◽  
Tzu-Chen Weng
Keyword(s):  
Stability Index ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Static Force ◽  
Force Analysis ◽  
Kinematic Singularity ◽  
Numerical Examples ◽  
Transformation Matrices ◽  
Unstable Configuration ◽  
Direct Kinematics

A general formulation for the differential kinematics of hybrid-chain manipulators is developed based on transformation matrices. This formulation leads to velocity and acceleration analyses, as well as to the formation of Jacobians for singularity and unstable configuration analyses. A manipulator consisting of n nonsymmetrical subchains with an arbitrary arrangement of actuators in the subchain is called a hybrid-chain manipulator in this paper. The Jacobian of the manipulator (called here the system Jacobian) is a product of two matrices, namely the Jacobian of a leg and a matrix M containing the inverse of a matrix Dk, called the Jacobian of direct kinematics. The system Jacobian is singular when a leg Jacobian is singular; the resulting singularity is called the inverse kinematic singularity and it occurs at the boundary of inverse kinematic solutions. When the Dk matrix is singular, the M matrix and the system Jacobian do not exist. The singularity due to the singularity of the Dk matrix is the direct kinematic singularity and it provides positions where the manipulator as a whole loses at least one degree of freedom. Here the inputs to the manipulator become dependent on each other and are locked. While at these positions, the platform gains at least one degree of freedom, and becomes statically unstable. The system Jacobian may be used in the static force analysis. A stability index, defined in terms of the condition number of the Dk matrix, is proposed for evaluating the proximity of the configuration to the unstable configuration. Several illustrative numerical examples are presented.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

Symmetry Breaking and Symmetry Increasing in a Vibro-Impact with Symmetric Two-Sided Constraints

2011 ◽  
Vol 66-68 ◽  
pp. 229-234
Author(s):  
Yuan Yue ◽  
Jian Huab Xie
Keyword(s):  
Fixed Point ◽  
Symmetry Breaking ◽  
Numerical Simulations ◽  
Poincaré Map ◽  
Jacobi Matrix ◽  
Degree Of Freedom ◽  
Poincare Map ◽  
Impact System ◽  
Existence Conditions ◽  
Three Degree Of Freedom

A three-degree-of-freedom vibro-impact system with symmetric two-sided constraints is considered. Existence conditions of the symmetric period -2 motion are given, and the symmetric period n-2 motion of the system is deduced analytically. The six dimensional Poincaré map is established, and the Jacobi matrix of the symmetrixc fixed point is obtained. By the numerical simulations, we show that symmetry breaking and symmetry increasing exists in the vibro-impact system with symmetric two-sided constraints.

scholarly journals KINEMATICS ANALYSIS AND IMPLEMENTATION OF THREE DEGREES OF FREEDOM ROBOTIC ARM BY USING MATLAB

2021 ◽  
Vol 21 (2) ◽  
pp. 118-129
Author(s):  
Hasan Dawood Salman ◽  
Mohsin Noori Hamzah ◽  
Sadeq Hussein Bakhy
Keyword(s):  
Interface Design ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Algebraic Solution ◽  
Robot Arm ◽  
Kinematics Modeling ◽  
Arduino Microcontroller ◽  
Articulated Robot ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

The kinematics modeling of the robot arm plays an important role in robot control. This paper presents the kinematic model of a three-degree of freedom articulated robot arm, which is designed for picking and placing an application with hand gripper, where a robot has been manufactured for that purpose. The forward kinematic model has been presented in order to determine the end effector’s poses using the Denavit-Hartenberg (DH) convention. For inverse kinematics, an algebraic solution based on trigonometric formulas mixed with geometric method was adopted for a 3 DOF modular manipulator taking into account the existence of a shoulder offset. MATLAB software was used as a tool to simulate and implement the motional characteristics of the robot arm, by creating a 3D visual software package under designing a Graphical User Interface "GUI" with a support simulation from robotic Toolbox (Rtb 10.3). Finally, an electronic interfacing circuit between the GUI program and the robot arm was developed using Arduino microcontroller to control the robot motion. The presented work can be applicable for learning the reality interface design methodology of the other kinds of robot manipulators and achieve a suitable solution for the motional characteristics

A Real Time Solution to the Forward Kinematic Problem of a General Spherical Three-Degree-of-Freedom Parallel Manipulator

1995 ◽  
Author(s):  
Roger Boudreau
Keyword(s):  
Real Time ◽  
Parallel Manipulator ◽  
Computation Time ◽  
Degree Of Freedom ◽  
Learning Networks ◽  
Time Solution ◽  
Forward Kinematic Problem ◽  
Time Required ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

Abstract In this paper, a real time solution to the forward kinematic problem of a general spherical three-degree-of-freedom parallel manipulator is presented using polynomial learning networks. These networks learn the forward kinematic problem based on a database of input-output examples. After the learning process has been achieved, the networks exhibit very little error when presented with inputs which were not part of the learning database. The computation time required to compute the forward kinematics is very small since the networks consist only of additions and multiplications.

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

1992 ◽  
Author(s):  
Yong-Xian Xu ◽  
Dilip Kohli ◽  
Tzu-Chen Weng
Keyword(s):  
Stability Index ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Static Force ◽  
Force Analysis ◽  
Kinematic Singularity ◽  
Numerical Examples ◽  
Transformation Matrices ◽  
Unstable Configuration ◽  
Direct Kinematics

Abstract A general formulation for the differential kinematics of hybrid-chain manipulators is developed based on transformation matrices. This formulations leads to velocity and acceleration analyses, as well as to the formation of Jacobians for singularity and unstable configuration analyses. A manipulator consisting of n nonsymmetrical subchains with an arbitrary arrangement of actuators in the subchain is called a hybrid-chain manipulator in this paper. The Jacobian of the manipulator (called here the system Jacobian) is a product of two matrices, namely the Jacobian of a leg and a matrix M containing the inverse of a matrix Dk, called the Jacobian of direct kinematics. The system Jacobian is singular when a leg Jacobian is singular; the resulting singularity is called the inverse kinematic singularity and it occurs at the boundary of inverse kinematic solutions. When the Dk matrix is singular, the M matrix and the system Jacobian do not exist. The singularity due to the singularity of the Dk matrix is the direct kinematic singularity and it provides positions where the manipulator as a whole loses at least one degree of freedom. Here the inputs to the manipulator become dependent on each other and are locked. While at these positions, the platform gains at least one degree of freedom, and becomes statically unstable. The system Jacobian may be used in the static force analysis. A stability index, defined in terms of the condition number of the Dk matrix, is proposed for evaluating the proximity of the configuration to the unstable configuration. Several illustrative numerical examples are presented.

scholarly journals Kinematics and workspace analysis of a robotic arm for medical delivery robots

2021 ◽  
Vol 257 ◽  
pp. 01067
Author(s):  
Wenli Wang ◽  
Peng Wang ◽  
Yongguo Zhao ◽  
Yunhai Zhu ◽  
Jie Zhao
Keyword(s):  
Solution Process ◽  
Inverse Kinematic ◽  
Robotic Arm ◽  
Future Research ◽  
Robot Arm ◽  
Boundary Points ◽  
The Monte Carlo Method ◽  
Future Research Directions ◽  
Forward Kinematic ◽  
Medical Delivery

For the control of the robot arm of a medical delivery robot, firstly, the forward kinematic equations of this 7-degree-of-freedom redundant robot arm are constructed according to a modified D-H method. Secondly, the analytical solution of the inverse kinematics of the redundant robotic arm is solved using the parameterised arm angle. Thirdly, kinematic simulation experiments were carried out by gazebo and RVIZ in ROS to verify the correctness of the forward and inverse kinematic solution process. Finally, the Monte Carlo method was used to generate the point cloud map of the workspace of the redundant robotic arm within the allowed range of joints, and the boundary points of the workspace were extracted, and the extracted boundary points were fitted with least squares curves to find the workspace of the robotic arm, which laid the foundation for future research directions such as motion control and path planning of medical delivery robots.

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