scholarly journals Simulación del Modelo Matemático de la Cinemática Diferencial de Robots Seriales Planos Configuración RRR y RPR

2019 ◽  
pp. 1-8
Author(s):  
Patricio Martinez-Zamudio ◽  
Victor Gonzalez-Villela ◽  
Hector Leon-Nuñez
Keyword(s):  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Differential Model ◽  
End Effector ◽  
Model And Simulation ◽  
Serial Robot ◽  
Serial Chains ◽  
Robot Configurations ◽  
The Relationship

This article presents the model and simulation of the serial robot configurations of the types RRR and RPR, applying the theories of differential kinematics, to obtain the representation of its mathematical model (Jacobian matrix) and its simulation. The differential kinematics in robotics is the relationship between vector spaces, so it is possible to make the velocity map in the joint space in the end effector workspace. We present the differential kinematic model that is obtained from the position kinematics by differentiation techniques and with the help of the asymmetric matrix we obtain the information that is part of the Jacobian matrix, which allows us to know the velocities of the joint variables as a function of linear and angular velocity in the end effector and vice versa. The simulation of the manipulators is carried out validating the mathematical differential model; through the validation of the differential kinematics of serial chains it is possible to apply the procedure to complicated manipulator robots. The method presented here is the basis of a useful tool for solving complex robots, as in the case of redundant, parallel and hybrid serial manipulator robots.

The Effects of Actuation Schemes on the Kinematic Performance of Manipulators

1997 ◽  
Vol 119 (2) ◽  
pp. 212-217 ◽  
Author(s):  
R. Matone ◽  
B. Roth
Keyword(s):  
Performance Measures ◽  
Condition Number ◽  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Singular Value ◽  
End Effector ◽  
Kinematic Performance ◽  
Actuation Scheme ◽  
Space Description

This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, the manipulability, and the condition number). We begin by presenting a simple framework on how to incorporate actuator location and drive mechanisms in the kinematic model. Then, we redefine the performance measures using the new model. For each measure we derive properties relating its joint space to its actuator space description. Next we demonstrate that the choice of actuation scheme influences the size, shape, and direction of the velocity ellipsoid of the end-effector. Finally, we employ the above concepts in the design of a 2R planar mechanical arm. Its transmission ratios and drive mechanisms are selected in order to obtain good kinematic characteristics. We show that the choice of actuation scheme can be used to improve kinematic performance.

The Effects of Actuation Schemes on the Kinematic Performance of Manipulators

1996 ◽  
Author(s):  
Ricardo Matone ◽  
Bernard Roth
Keyword(s):  
Performance Measures ◽  
Condition Number ◽  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Singular Value ◽  
End Effector ◽  
Kinematic Performance ◽  
Actuation Scheme ◽  
Space Description

Abstract This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, the manipulability, and the condition number.) We begin by presenting a simple framework on how to incorporate actuator location and drive mechanisms in the kinematic model. Then, we redefine the performance measures using the new model. For each measure we derive properties relating its joint space to its actuator space description. Next we demonstrate that the choice of actuation scheme influences the size, shape, and direction of the velocity ellipsoid of the end-effector. Finally, we employ the above concepts in the design of a 2R planar mechanical arm. Its transmission ratios and drive mechanisms are selected in order to obtain good kinematic characteristics. We show that the choice of actuation scheme can be used to improve kinematic performance.

Accessibility and Controllability of Flexible Robotic Manipulators

1992 ◽  
Vol 114 (1) ◽  
pp. 50-58 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Case Studies ◽  
System Performance ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Theoretical Framework ◽  
Robotic Systems ◽  
Full System ◽  
Distinct Concept ◽  
Robot Configurations ◽  
The Relationship

Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, in certain robot configurations, called inaccessible robot positions, one or more of the flexibilities may not be accessed directly by the actuators. This condition may significantly deteriorate system performance as reported earlier by the authors (Tosunoglu et al., 1988, 1989). The present study addresses the relationship between the accessibility and controllability concepts and establishes accessibility as a distinct concept from controllability. Although the theoretical framework is developed for general n-link, spatial manipulators modeled with m oscillation components, example case studies demonstrate the concepts on one- and two-link arms for brevity. Specifically, it is shown that although inaccessibility and uncontrollability may coincide in certain instances (as shown on a one-link arm), counter examples may be found where an arm in an inaccessible position can simultaneously demonstrate full system controllability (as shown on a two-link arm).

The relationship between controlled joint torque and end-effector force in underactuated robotic systems

Robotica ◽  
2010 ◽  
Vol 29 (4) ◽  
pp. 581-584 ◽  
Author(s):  
Jaeheung Park
Keyword(s):  
Jacobian Matrix ◽  
Joint Torque ◽  
Generalized Jacobian ◽  
End Effector ◽  
Joint Torques ◽  
Floating Base ◽  
Force Moment ◽  
Generalized Jacobian Matrix ◽  
The Relationship ◽  
Jacobian Inverse

SUMMARYThe generalized Jacobian matrix was introduced for dealing with end-effector control in space robots. One of the applications of this Jacobian is to be used in Jacobian transpose control to generate joint torques given end-effector position error. It would be misleading, however, to consider the transpose of this Jacobian as a mapping from end-effector force/moment to controlled joint torques for underactuated systems or floating base robots. This paper explains why it does not represent the mapping and provides a simple example. Later, the correct mapping is provided using the dynamically consistent Jacobian inverse and then a method to compute the actuated-joint torques is explained given the desired end-effector force. Finally, the effect of using the generalized Jacobian in the Jacobian transpose control is analyzed.

The rigid S-type cable-suspended parallel robot design, modelling and analysis

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 1948-1960 ◽  
Author(s):  
M. Filipovic ◽  
A. Djuric ◽  
Lj. Kevac
Keyword(s):  
Jacobian Matrix ◽  
Virtual Work ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Model Verification ◽  
Robot Design ◽  
Principle Of Virtual Work ◽  
Lagrange Principle ◽  
Internal Forces ◽  
The Relationship

SUMMARYThis paper presents design, modelling and analysis of the selected Rigid ropes S-type Cable-suspended Parallel Robot (RSCPR). The characteristic of this system is its geometric construction which defines the kinematic model through the Jacobian matrix. The relationship between external and internal forces is defined by the Lagrange principle of virtual work. The Jacobian matrix is directly involved in the application of the Lagrange principle of virtual work and generation of the dynamic model of the RSCPR system. Selected examples of the CPR system types are analysed and the comparison of their results is presented. The software package named ORIGI has been developed for the RSCPR model verification.

scholarly journals Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism

2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Guanyu Huang ◽  
Dan Zhang ◽  
Qi Zou
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Industrial Area ◽  
And Performance ◽  
The Relationship

To meet the different requirements in the industrial area, a novel reconfigurable parallel mechanism is proposed based on the spatial multiloop overconstrained mechanism. The configurations can be changed by driving the low-DOF (degree-of-freedom) overconstrained mechanism. The mobility of this mechanism is investigated. And the kinematic model and Jacobian matrix are both established. Based on the Jacobian matrix, the workspace, stiffness, and conditional number are all analyzed. To focus on the application in the industrial area, this paper proposes a method to establish the relationship between the performance and the structural parameters by using the modified BP neural network. Based on this method, the structural parameters can be chosen by the requirements of the special task in the industrial area. Finally, some numerical examples are presented to verify the method.

The Jacobian Matrix Structure of the Barrier Arm of Inspection Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1183-1186
Author(s):  
Yu Yan ◽  
Gong Ping Wu
Keyword(s):  
Jacobian Matrix ◽  
Space Velocity ◽  
Joint Space ◽  
Transformation Method ◽  
Linear Mapping ◽  
Real Time Control ◽  
Inspection Robot ◽  
Time Control ◽  
Relationship Of ◽  
The Relationship

The Jacobian matrix represents the relationship of the linear mapping between the space velocity of robot operation and joint space velocity, which is the important link in the process of robot control. According to analyzing the gesture character of the inspection robot when it gets over the obstacles. This paper sets up the dynamitic model of robot by utilizing D-H. Based on that, it builds the Jacobian matrix by adopting differential transformation method, which establishes the foundation of the robots motion planning and real-time control.

scholarly journals Configuring a virtual prototype of a BiSCARA robot

Tehnika ◽  
2021 ◽  
Vol 76 (3) ◽  
pp. 311-317
Author(s):  
Nikola Slavković ◽  
Saša Živanović ◽  
Nikola Vorkapić
Keyword(s):  
Jacobian Matrix ◽  
Kinematic Model ◽  
Virtual Prototype ◽  
Open Architecture ◽  
Cad Model ◽  
End Effector ◽  
Graphical Environment ◽  
Workspace Analysis ◽  
Cad Cam ◽  
The Given

The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.

scholarly journals AB0867 INCREASED ADIPONECTIN LEVELS ARE ASSOCIATED WITH HIGHER RADIOGRAPHIC SCORES IN THE KNEE JOINT, BUT NOT IN THE HAND JOINT: THE DONG-GU STUDY

2020 ◽  
Vol 79 (Suppl 1) ◽  
pp. 1740.1-1740
Author(s):  
J. H. Kang ◽  
S. E. Choi ◽  
H. Xu ◽  
D. J. Park ◽  
S. S. Lee
Keyword(s):  
Body Mass Index ◽  
Knee Joint ◽  
Body Mass ◽  
Linear Regression Analysis ◽  
Joint Space ◽  
Serum Adiponectin ◽  
Hand Osteoarthritis ◽  
X Rays ◽  
Subchondral Cyst ◽  
The Relationship

Background:Several studies have evaluated the association between serum adiponectin levels and knee and hand osteoarthritis (OA), with mixed results.Objectives:The aim of this study was to investigate the relationship between OA and serum adiponectin levels according to the radiographic features of knee and hand OA.Methods:A total of 2,402 subjects were recruited from the Dong-gu Study. Baseline characteristics were collected via a questionnaire, and X-rays of knee and hand joints were scored by a semi-quantitative grading system. The relationship between serum adiponectin levels and radiographic severity was evaluated by linear regression analysis.Results:Subjects with higher tertiles of serum adiponectin were older and had a lower body mass index than those with lower tertiles. In the knee joint scores, serum adiponectin levels were positively associated with the total score (P<0.001), osteophyte score (P=0.003), and joint space narrowing (JSN) score (P<0.001) among the three tertiles after adjustment for age, sex, body mass index, smoking, alcohol consumption, education, and physical activity. In the hand joint scores, no association was found between serum adiponectin levels and the total score, osteophyte score, JSN score, subchondral cyst score, sclerosis score, erosion score, and malalignment score among the three tertiles after adjustment.Conclusion:In this study, we found that increased adiponectin levels were associated with higher radiographic scores in the knee joint, but not in the hand joint, suggesting different pathophysiologic mechanisms in the development of OA.Disclosure of Interests:None declared

An Investigation Into the Compliance of SCARA Robots. Part II: Experimental and Numerical Validation

1988 ◽  
Vol 110 (1) ◽  
pp. 23-30 ◽  
Author(s):  
H. A. ElMaraghy ◽  
B. Johns
Keyword(s):  
Elastic Compliance ◽  
Servo Control ◽  
Compliance Matrix ◽  
End Effector ◽  
Prismatic Parts ◽  
Numerical Solution Methods ◽  
Solution Methods ◽  
Using Data ◽  
Assembly Performance ◽  
Robot Configurations

A model of inherent elastic compliance was developed for general position-controlled SCARA, with conventional joint feedback control, for both rotational and prismatic part insertion (Part I). The developed model was applied to the SKILAM and ADEPT I robots for validation. Experimental procedures and numerical solution methods are described. It was found that the ADEPT I robot employs a coupled control strategy between joints one and two which produces a constant, decoupled end effector compliance. The applicable compliance matrix, in this case, is presented and the experimental results are discussed. The model may be used to develop compliance maps that define the amount of end effector compliance, as a function of the joints compliance, as well as its variation for different robot configurations. This is illustrated using data for the SKILAM SCARA robot. Results are plotted and discussed. The most appropriate robot postures for assembly were found for both rotational and prismatic parts. The conditions necessary to achieve compliance or semicompliance centers with the SKILAM robot were examined. The results and methods demonstrated in these examples may be used to select appropriate robots for given applications. They can also guide robot designers in selecting joint servo-control gains to obtain the desired joints compliance ratio and improve assembly performance.

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