INVERSE KINEMATIC ANALYSIS OF GENERAL 5R SERIAL ROBOT BASED ON LINEAR TRANSFORMATION

2001 ◽  
Vol 37 (05) ◽  
pp. 22 ◽  
Author(s):  
Lubin Hang
Keyword(s):  
Linear Transformation ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

Inverse Kinematic Analysis of General 5R Serial Robot Based on Linear Transformation

2000 ◽  
Author(s):  
Lubin Hang ◽  
Qiong Jin ◽  
Tingli Yang
Keyword(s):  
Linear Transformation ◽  
Kinematic Analysis ◽  
Traditional Method ◽  
Polynomial Equation ◽  
Inverse Kinematic ◽  
Transformation Theory ◽  
Serial Robots ◽  
Serial Robot ◽  
Inverse Kinematic Analysis ◽  
General Method

Abstract Based on the linear transformation theory, a general method for inverse kinematic analysis of 5R serial robots is proposed in this paper. Using this method, a polynomial equation, which contains only one variable and no extraneous roots, can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R manipulator (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R manipulator’s real configuration.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Vol 129 (8) ◽  
pp. 793-798 ◽  
Author(s):  
Shi Zhi Xin ◽  
Luo Yu Feng ◽  
Hang Lu Bing ◽  
Yang Ting Li
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Forward Kinematics ◽  
The Real ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Inverse Kinematic Analysis of Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 24 ◽  
pp. 77-81 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Design Verification ◽  
Simulation Tools ◽  
Analysis And Design ◽  
Link Mechanism ◽  
Inverse Kinematic Analysis ◽  
Verification Process ◽  
Process Computer ◽  
Functional Prototype

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Author(s):  
Zhi Xin Shi ◽  
Yu Feng Luo ◽  
Lu Bing Hang ◽  
Ting Li Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Algebraic Method ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Parallel Mechanisms ◽  
Simple Method ◽  
Inverse Kinematics Problem ◽  
Serial Robot

Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on one-dimension searching algorithm. The new method has the following features: (1) Using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; (2) Compared with algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

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