scholarly journals A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

2021 ◽  
Vol 11 (3) ◽  
pp. 1277
Author(s):  
Ya’nan Lou ◽  
Pengkun Quan ◽  
Haoyu Lin ◽  
Dongbo Wei ◽  
Shichun Di
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Closed Form Solution ◽  
Form Solution ◽  
Spherical Joint ◽  
Redundant Manipulator ◽  
Spherical Wrist ◽  
Joint Section ◽  
Novel Concept ◽  
Universal Joints

This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with n identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical joint (GSJ). In this work, these universal joints are modeled as general spherical joints through introducing a virtual revolution between two adjacent universal joints. This virtual revolution acts as the third revolute DOF of the general spherical joint. Remarkably, the proposed general spherical joint can also realize the decoupling of position and orientation just as the spherical wrist. Further, based on this, the universal joint angles can be solved if all of the positions of the general spherical joints are known. The position of a general spherical joint can be determined by using three distances between this unknown general spherical joint and another three known ones. Finally, a closed-form solution for the whole manipulator is solved by applying the inverse kinematics of single general spherical joint section using these positions. Simulations are developed to verify the validity of the proposed closed-form inverse kinematics model.

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

1992 ◽  
Author(s):  
D. Zlatanov ◽  
M. Q. Dai ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Mechanical Design ◽  
Closed Form Solution ◽  
Form Solution ◽  
Forward Kinematics ◽  
Spherical Joint ◽  
Revolute Joints ◽  
Forward And Inverse Kinematics ◽  
Six Degree Of Freedom

Abstract In this paper a three-legged 6-dof platform-type parallel manipulator is described. Each of the legs is a serial subchain with three revolute joints connected to the output platform via a spherical joint. Due to the proposed asymmetrical 3-2-1 distribution of the controlled joints, a closed-form solution exists to the forward kinematics problem. The mechanical design of the manipulator has been developed. The forward and inverse kinematics as well as the instantaneous kinematics of the mechanism have been solved analytically.

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.

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.

scholarly journals Existence Conditions and General Solutions of Closed-form Inverse Kinematics for Revolute Serial Robots

2019 ◽  
Vol 9 (20) ◽  
pp. 4365 ◽  
Author(s):  
Wang Shanda ◽  
Luo Xiao ◽  
Luo Qingsheng ◽  
Han Baoling
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Form Solution ◽  
Algebraic Equations ◽  
Closed Form Solutions ◽  
Serial Robots ◽  
Existence Conditions ◽  
Low Degrees

This study proposes a method for judging the existence of closed-form inverse kinematics solutions based on the Denavit–Hartenberg (DH) model. In this method, serial robots with closed-form solutions are described using three types of sub-problems from the viewpoint of solving algebraic equations. If a serial robot can be described using these three types of sub-problems, i.e., if the inverse kinematics problems can be solved by several basic problems, then there is a closed-form solution. Based on the above method, we design a set of universal closed-form inverse kinematics solving algorithms. Since there is a definite formula solution for the three types of sub-problems, the joint angles can be rapidly determined. In addition, because the DH parameters can directly reflect the linkage of the robot, the judgment of the sub-problems is also quick and accurate. More importantly, the algorithm can be applied to serial robots with low degrees of freedom. This enables the algorithm to not only quickly and accurately solve inverse kinematics problems but also to exhibit high universality. This proposed theory improves the existence conditions for closed-form reverse solutions and further promotes the development of motion control techniques for serial robots.

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