scholarly journals Globally Optimal Inverse Kinematics Method for a Redundant Robot Manipulator with Linear and Nonlinear Constraints

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 61 ◽  
Author(s):  
Alessandro Tringali ◽  
Silvio Cocuzza
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Redundant Manipulator ◽  
Global Method ◽  
Redundant Robot ◽  
Joint Torques ◽  
Linear And Nonlinear Constraints ◽  
Linear And Nonlinear ◽  
Three Degrees Of Freedom

This paper presents a novel inverse kinematics global method for a redundant robot manipulator performing a tracking maneuver. The proposed method, based on the choice of appropriate initial joint trajectories that satisfy the kinematic constraints to be used as inputs for a multi-start optimization algorithm, allows for the optimization of different integral cost functions, such as kinetic energy and joint torques norm, and can provide solutions with a variety of constraints, both linear and nonlinear. Furthermore, it is suitable for multi-objective optimization, and it is able to find multiple optima with minimal input from the user, and to solve cyclic trajectories. Problems with a high number of parameters have been addressed providing a sequential version of the method based on successive stages of interpolation. The results of simulations with a three-Degrees-of-Freedom (DOF) redundant manipulator have been compared with a solution available in the literature based on the calculus of variations, thus leading to the validation of the method. Moreover, the effectiveness of the presented method has been shown when used to solve problems with constraints on joint displacement, velocity, torque, and power.

Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules1

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Emmanouil Tzorakoleftherakis ◽  
Anastasia Mavrommati ◽  
Anthony Tzes
Keyword(s):  
Computational Complexity ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Redundant Manipulator ◽  
Stable States ◽  
Design And Implementation ◽  
Serial Robot ◽  
The Subject ◽  
Forward And Inverse Kinematics ◽  
Three Degrees Of Freedom

The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the I2C protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoff between maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.

scholarly journals Collision Free Control of Variable Length Hyper Redundant Robot Manipulator

2014 ◽  
Vol 541-542 ◽  
pp. 1107-1114 ◽  
Author(s):  
Annisa Jamali ◽  
M. Raisuddin Khan ◽  
M. Shahril Osman ◽  
M. Mozasser Rahman ◽  
Muhd Fadzli Ashari ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Control Algorithm ◽  
Target Location ◽  
Robot Manipulator ◽  
Variable Length ◽  
Effective Control ◽  
Redundant Manipulator ◽  
End Effector ◽  
Redundant Robot ◽  
Sharp Turn

Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is proposed. The algorithm derives a collision free path around known obstacles so that the end-effector of a variable length hyper redundant robot (VHRR) is able to reach the target location following the path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the end-effector along the collision free trajectories: first, solve the inverse kinematics without disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace without penetrating to the neighboring obstruction. Further, this method is very effective in the sense that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of the proposed method. The approach succeeded in delivering the path that avoids obstacle.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

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.

scholarly journals Hybrid Mutation Fruit Fly Optimization Algorithm for Solving the Inverse Kinematics of a Redundant Robot Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Jianping Shi ◽  
Yuting Mao ◽  
Peishen Li ◽  
Guoping Liu ◽  
Peng Liu ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Fruit Fly ◽  
Fruit Fly Optimization Algorithm ◽  
Redundant Manipulators ◽  
End Effector ◽  
Redundant Robot ◽  
Fruit Fly Optimization ◽  
Inverse Kinematics Problem

The inverse kinematics of redundant manipulators is one of the most important and complicated problems in robotics. Simultaneously, it is also the basis for motion control, trajectory planning, and dynamics analysis of redundant manipulators. Taking the minimum pose error of the end-effector as the optimization objective, a fitness function was constructed. Thus, the inverse kinematics problem of the redundant manipulator can be transformed into an equivalent optimization problem, and it can be solved using a swarm intelligence optimization algorithm. Therefore, an improved fruit fly optimization algorithm, namely, the hybrid mutation fruit fly optimization algorithm (HMFOA), was presented in this work for solving the inverse kinematics of a redundant robot manipulator. An olfactory search based on multiple mutation strategies and a visual search based on the dynamic real-time updates were adopted in HMFOA. The former has a good balance between exploration and exploitation, which can effectively solve the premature convergence problem of the fruit fly optimization algorithm (FOA). The latter makes full use of the successful search experience of each fruit fly and can improve the convergence speed of the algorithm. The feasibility and effectiveness of HMFOA were verified by using 8 benchmark functions. Finally, the HMFOA was tested on a 7-degree-of-freedom (7-DOF) manipulator. Then the results were compared with other algorithms such as FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA. The pose error of end-effector corresponding to the optimal inverse solution of HMFOA is 10−14 mm, while the pose errors obtained by FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA are 102 mm, 10−1 mm, 10−2 mm, 102 mm, and 102 mm, respectively. The experimental results show that HMFOA can be used to solve the inverse kinematics problem of redundant manipulators effectively.

Development of a new buffing robot manipulator for shoes

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 55-62 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Gyu-Deuk Hwang ◽  
Sam-Sang You
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Closed Form Solution ◽  
Electronic System ◽  
Form Solution ◽  
Graphic User Interface ◽  
Test Results ◽  
C Language ◽  
Communication Program

SUMMARYThis paper presents analysis and experimental verifications of a new robot manipulator with five degrees of freedom developed for the buffing operation of shoes. First, the forward and inverse kinematics are analyzed. Next, an analytic closed-form solution is rigorously derived for the joint angles corresponding to the position and orientation of the end-effector in Cartesian coordinates. A control system, including input/output interfaces and the related electronic system, is designed for the control of the mechanical structure of the buffing robot. Then, peripheral systems integrated with the conveyer, transfer device, and fixture device are designed for the sequential buffing process of shoes. Also, a graphic user interface (GUI) program including the forward/inverse kinematics, control algorithm, and communication program to interact the robot with the peripheral systems is developed by using visual C++ language. A new flexible toolholder (FTH) is proposed to compensate for the excessive applied force between deburring tools and shoes. Finally, the test results are provided to demonstrate the effectiveness of the proposed scheme.

scholarly journals Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

2017 ◽  
Vol 8 (1) ◽  
pp. 117-126 ◽  
Author(s):  
Bingxiao Ding ◽  
Yangmin Li ◽  
Xiao Xiao ◽  
Yirui Tang ◽  
Bin Li
Keyword(s):  
Nanoimprint Lithography ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Scanning Tunneling ◽  
Tunneling Microscopy ◽  
Rotational Displacement ◽  
Revolute Joints ◽  
Kinematic Models ◽  
Lever Mechanism ◽  
Three Degrees Of Freedom

Abstract. Flexure-based mechanisms have been widely used for scanning tunneling microscopy, nanoimprint lithography, fast servo tool system and micro/nano manipulation. In this paper, a novel planar micromanipulation stage with large rotational displacement is proposed. The designed monolithic manipulator has three degrees of freedom (DOF), i.e. two translations along the X and Y axes and one rotation around Z axis. In order to get a large workspace, the lever mechanism is adopted to magnify the stroke of the piezoelectric actuators and also the leaf beam flexure is utilized due to its large rotational scope. Different from conventional pre-tightening mechanism, a modified pre-tightening mechanism, which is less harmful to the stacked actuators, is proposed in this paper. Taking the circular flexure hinges and leaf beam flexures hinges as revolute joints, the forward kinematics and inverse kinematics models of this stage are derived. The workspace of the micromanipulator is finally obtained, which is based on the derived kinematic models.

Fundamental Exercises in Mechanical Systems Engineering Using Robot Manipulator

2011 ◽  
Author(s):  
Hideaki Takanobu
Keyword(s):  
Mechanical System ◽  
Linear Algebra ◽  
Systems Engineering ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Robot Manipulator ◽  
Mechanical Systems ◽  
Forward Kinematics ◽  
Basic Learning

A five degrees-of-freedom (5-DOF) robot manipulator is used for the basic learning of mechanical system engineering. Students learned the forward kinematics as concrete applications of the mathematics, especially linear algebra. After making a manipulator, baton relay contest was done to understand the inverse kinematics by controlling the manipulator using a manual controller having five levers.

A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics

1993 ◽  
Author(s):  
Gregory S. Chirikjian
Keyword(s):  
Continuum Model ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Lumped Mass ◽  
Mass Model ◽  
Joint Torques ◽  
Lumped Mass Model ◽  
The Continuum

Abstract The most efficient methods for representing dynamics in the literature require serial computations which are proportional to the number of manipulator degrees-of-freedom. Furthermore, these methods are not fully parallelizable. For ‘hyper-redundant’ manipulators, which may have tens, hundreds, or thousands of actuators, these formulations preclude real time implementation. This paper therefore looks at the mechanics of hyper-redundant manipulators from the point of view of an approximation to an ‘infinite degree-of-freedom’ (or continuum) problem. The dynamics for this infinite dimensional case is developed. The approximate dynamics of actual hyper-redundant manipulators is then reduced to a problem which is O(1) in the number of serial computations, i.e., the algorithm is O(n) in the total number of computations, but these computations are completely parallelizable. This is achieved by ‘projecting’ the dynamics of the continuum model onto the actual robotic structure. The results are compared with a lumped mass model of a particular hyper-redundant manipulator. It is found that the continuum model can be used to generate joint torques to within ten percent of values computed from the lumped mass model.

Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator

2005 ◽  
Author(s):  
Yangmin Li ◽  
Qingsong Xu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Applications ◽  
Forward Kinematics ◽  
Physical Constraints ◽  
Mechanical Joints ◽  
Reachable Workspace ◽  
Three Degrees Of Freedom

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

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