scholarly journals Novel Approach to Solve the Inverse Kinematics Problem for a Multi-Degree-of-Freedom Robotic Arm

2019 ◽  
Vol 14 (13) ◽  
pp. 4617-4624
Author(s):  
Firas S. Hameed ◽  
Hassan M. Alwan ◽  
Qasim A. Ateia
Keyword(s):  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Novel Approach ◽  
Inverse Kinematics Problem

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 123-129 ◽  
Author(s):  
John Q. Gan ◽  
Eimei Oyama ◽  
Eric M. Rosales ◽  
Huosheng Hu
Keyword(s):  
Analytical Solution ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Effective Solution ◽  
Robotic Arms ◽  
Unstructured Environment ◽  
Inverse Kinematics Problem

For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kinematics of the P2Arm, which makes it possible to control the arm to any reachable position in an unstructured environment. The strategies developed in this paper could also be useful for solving the inverse kinematics problem of other types of robotic arms.

scholarly journals Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

2021 ◽  
Vol 343 ◽  
pp. 08004
Author(s):  
Mihai Crenganis ◽  
Alexandru Barsan ◽  
Melania Tera ◽  
Anca Chicea
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Inverse Kinematics ◽  
Geometric Approach ◽  
Correct Choice ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

scholarly journals Multi-Objective Swarm Intelligence Trajectory Generation for a 7 Degree of Freedom Robotic Manipulator

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 127
Author(s):  
Aryslan Malik ◽  
Troy Henderson ◽  
Richard Prazenica
Keyword(s):  
Swarm Intelligence ◽  
Inverse Kinematics ◽  
A Priori ◽  
Trajectory Generation ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Control Effort ◽  
End Effector ◽  
Multi Objective ◽  
Inverse Kinematics Problem

This work is aimed to demonstrate a multi-objective joint trajectory generation algorithm for a 7 degree of freedom (DoF) robotic manipulator using swarm intelligence (SI)—product of exponentials (PoE) combination. Given a priori knowledge of the end-effector Cartesian trajectory and obstacles in the workspace, the inverse kinematics problem is tackled by SI-PoE subject to multiple constraints. The algorithm is designed to satisfy finite jerk constraint on end-effector, avoid obstacles, and minimize control effort while tracking the Cartesian trajectory. The SI-PoE algorithm is compared with conventional inverse kinematics algorithms and standard particle swarm optimization (PSO). The joint trajectories produced by SI-PoE are experimentally tested on Sawyer 7 DoF robotic arm, and the resulting torque trajectories are compared.

Human-Like Posture Correction for Seven-Degree-of-Freedom Robotic Arm

2021 ◽  
pp. 1-16
Author(s):  
Yu-Heng Deng ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Support Vector Machine Model ◽  
Humanoid Robots ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Support Vector ◽  
Machine Model ◽  
Human Arm ◽  
Inverse Kinematics Problem ◽  
Point Trajectories ◽  
Point To Point

Abstract Owing to advancements in robotics, researchers have been focusing on integrating humanoid robots into actual environments. Most humanoid robots are equipped with seven-degree-of-freedom (DoF) arms that allow them to be flexible in different scenarios. The controller of a 7-DoF robotic arm must select one solution among the infinite sets of solutions for a given inverse kinematics problem. To date, no suitable approach has been developed for identifying appropriate human-like postures for a robotic arm with an offset wrist configuration. In this paper, we propose a novel algorithm that considers the movement of the human arm to consistently find a suitable human-like posture. First, a one-class support vector machine model is employed to classify human-like postures. Then, the algorithm uses the redundancy characteristic of a 7-DoF robotic arm with a linear regression model to enhance the search of human-like postures. Finally, the proposed algorithm is demonstrated in simulation, where it successfully optimized point-to-point trajectories by modifying only the endpoint posture.

scholarly journals Introduction and Testing of an Alternative Control Approach for a Robotic Prosthetic Arm

2014 ◽  
Vol 8 (1) ◽  
pp. 93-105 ◽  
Author(s):  
Lauren Griggs ◽  
Farbod Fahimi
Keyword(s):  
Inverse Kinematics ◽  
Human Subjects ◽  
Motor Task ◽  
Robotic Arm ◽  
Joint Control ◽  
Control Approach ◽  
Simple Motor ◽  
Simple Motor Task ◽  
Inverse Kinematics Problem ◽  
Control Methodology

Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects. Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task. The timed trial results indicated that Cartesian control was both more intuitive and more effective than joint control. So, the results suggest that much improvement can be achieved by using the proposed Cartesian control methodology.

The Realization of Multiple Degree of Freedom Prosthetic Method of Random Target Location in Embeded System

2012 ◽  
Vol 220-223 ◽  
pp. 1977-1981
Author(s):  
Bing Hui Fan ◽  
Peng Ji ◽  
Jian Gong Li
Keyword(s):  
Embedded System ◽  
Real Time ◽  
Inverse Kinematics ◽  
Target Location ◽  
Three Dimensional ◽  
Degree Of Freedom ◽  
Embeded System ◽  
Inverse Kinematics Problem ◽  
The Embedded System ◽  
Object Relative

In order to make prosthetic work in unstructured environments in real time to solve the inverse kinematics problem, the coordinates of the location of the end of the workspace of the manipulator rod needed to know. The spatial orientation value of random object relative to prosthesis basic coordinates be calculated in real time is realized in the embedded system by means of two three-dimensional attitude sensors and one laser ranging sensor.This method can provide the necessary raw information for the multiple degree of freedom prosthesis which works in an unstructured environment to complete the operational tasks assigned.

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

2015 ◽  
Vol 762 ◽  
pp. 305-311
Author(s):  
Mihai Crenganis ◽  
Octavian Bologa
Keyword(s):  
Fuzzy Logic ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
Redundancy Resolution ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

2014 ◽  
Vol 657 ◽  
pp. 823-828
Author(s):  
Mihai Crenganis ◽  
Radu Eugen Breaz ◽  
Sever Gabriel Racz ◽  
Octavian Bologa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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