Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge

2011 ◽  
Vol 121-126 ◽  
pp. 1358-1362
Author(s):  
Qian Qian Chen ◽  
Xiu Ting Wei ◽  
Jiang Hai Lin ◽  
Gang Li
Keyword(s):  
Inverse Problem ◽  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Joint Space ◽  
Forward Problem ◽  
Cartesian Space ◽  
Painting Robot

In order to implement the surface painting automation of irregular components of reproducing cartridge, a painting robot manipulator with four degrees of freedom is carried out in this paper. Kinematics forward problem and inverse problem of the manipulator are firstly formulated and then painting trajectory is described by adopting the structure of endpoints and line-style. Furthermore, painting trajectory is generated in both joint space and Cartesian space according to robot’s trajectory planning principle.

scholarly journals Kinematic analysis of a newly designed cable-driven manipulator

2018 ◽  
Vol 42 (2) ◽  
pp. 125-135 ◽  
Author(s):  
Wei Xu ◽  
Yaoyao Wang ◽  
Surong Jiang ◽  
Jiafeng Yao ◽  
Bai Chen
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Joint Space ◽  
Joint Angles ◽  
Coupled Motion ◽  
Cartesian Space ◽  
The Impact ◽  
The Relationship

In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

2021 ◽  
Vol 11 (20) ◽  
pp. 9438
Author(s):  
Jianwei Zhao ◽  
Tao Han ◽  
Xiaofei Ma ◽  
Wen Ma ◽  
Chengxiang Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Random Number ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Joint Space ◽  
Work Requirements ◽  
Multiple Degrees Of Freedom ◽  
Quintic Polynomial

To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the overall structure of the explosion-expulsion manipulator is introduced. The redundant degrees of freedom are formed by the parallel joint axes of the shoulder joint, elbow joint and wrist pitching joint, which increase the flexibility of the mechanism. Aiming at a complex system with multiple degrees of freedom and strong coupling of the manipulator, the virtual joint is introduced, the corresponding forward kinematics model is established by D–H method, and the inverse kinematics solution of the manipulator is derived by analytical method. In the MATLAB platform, the workspace of the manipulator is analyzed by Monte Carlo pseudo-random number method. The quintic polynomial interpolation method is used to simulate the deflagration task in joint space. Finally, the actual prototype experiment is carried out using the data obtained by simulation. The trajectory planning using the quintic polynomial interpolation method can ensure the smooth movement of the manipulator and high accuracy of operation. Furthermore, the trajectory is basically consistent with the simulation trajectory, which can realize the work requirements of putting the object into the explosion-proof tank. The new 5-DOF folding deflagration manipulator designed in this paper has stable motion and strong robustness, which can be used for deflagration during the COVID-19 epidemic.

Feasible Motion Solutions for Serial Manipulators at Singular Configurations

2003 ◽  
Vol 125 (1) ◽  
pp. 61-69 ◽  
Author(s):  
Yuefa Fang ◽  
Lung-Wen Tsai
Keyword(s):  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Full Rank ◽  
Joint Space ◽  
Serial Manipulators ◽  
First Order ◽  
Singular Configurations ◽  
Cartesian Space ◽  
Novel Approach ◽  
Singular Configuration

When a serial manipulator is at a singular configuration, the Jacobian matrix will lose its full rank causing the manipulator to lose one or more degrees of freedom. This paper presents a novel approach to model the manipulator kinematics and solve for feasible motions of a manipulator at singular configurations such that the precise path tracking of a manipulator at such configurations is possible. The joint screw linear dependency is determined by using known line varieties so that not only the singular configurations of a manipulator can be identified but also the dependent joint screws can be determined. Feasible motions in Cartesian space are identified by using the theory of reciprocal screws and the resulting equations of constraint. The manipulator first-order kinematics is then modeled by isolating the linearly dependent columns and rows of the Jacobian matrix such that the mapping between the feasible motions in Cartesian space and the joint space motions can be uniquely determined. Finally, a numerical example is used to demonstrate the feasibility of the approach. The simulation results show that a PUMA-type robot can successfully track a path that is singular at all times.

Singularity and Controllability Analysis of Parallel Manipulators

1998 ◽  
Author(s):  
Prasun Choudhury ◽  
Ashitava Ghosal
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Transformation Matrix ◽  
Constraint Forces ◽  
Numerical Examples ◽  
Cartesian Space ◽  
Force Transformation

Abstract This paper presents a study of kinematic and force singularities and their relationship to the controllability of planar and spatial parallel manipulators. Parallel manipulators are classified according to their degrees of freedom, number of output Cartesian variables used to describe their motion and the number of actuated joint inputs. The singularities in the workspace of a parallel manipulator are studied by considering the force transformation matrix which maps the forces and torques in joint space to output forces and torques in Cartesian space. The uncontrollable regions in the workspace of the parallel manipulator are obtained by deriving the equations of motion in terms of Cartesian variables and by using techniques from Lie Algebra. We show that when the number of actuated joint inputs is equal to the number of output Cartesian variables, and the force transformation matrix loses rank, the parallel manipulator is uncontrollable. For the case of manipulators where the number of joint inputs is less than the number of output Cartesian variables, if the constraint forces and torques (represented by the Lagrange multipliers) become infinite, the force transformation matrix loses rank. Finally, we show that the singular and uncontrollable regions in the workspace of a parallel manipulator can be reduced by adding redundant joint actuators and links. The results are illustrated with the help of numerical examples where we plot the singular and uncontrollable regions of parallel manipulators belonging to the above mentioned classes.

Robust Impedance Control for Robot Manipulator

1991 ◽  
Vol 3 (6) ◽  
pp. 470-474
Author(s):  
Yoshiharu Nishida ◽  
◽  
Takashi Harada ◽  
Nobuaki Imamura ◽  
Nobuo Kimura
Keyword(s):  
Disturbance Observer ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Joint Space ◽  
Experimental Results ◽  
Control Methods ◽  
Robust Controller ◽  
End Effector ◽  
Cartesian Space ◽  
Modeling Errors

In most robust impedance control methods, error factors such as disturbances and modeling errors in the joint space are dealt with. However, the dynamics for an end effector of the manipulator in the Cartesian space is more important than that of the manipulator in the joint space. In this paper, error factors are described in the Cartesian space, and the influence of these factors on the dynamics of the end-effector are considered. A robust controller is designed using either feedback of impedance error or a disturbance observer based on the Cartesian space, and its effectiveness is confirmed through experimental results.

The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality

2012 ◽  
Vol 204-208 ◽  
pp. 4729-4733
Author(s):  
Hui Ying Dong ◽  
Qi Hua Sun ◽  
Xue Lu ◽  
Zhang Ming Liu
Keyword(s):  
Virtual Reality ◽  
Trajectory Planning ◽  
Hot Spot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Trajectory Tracking Control ◽  
Cartesian Space ◽  
Robot Trajectory ◽  
Interactive Operation ◽  
Simulation Based

At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.

A Cartesian Workspace Generator for Robot Arm Workcell Obstacle Collision Avoidance

1991 ◽  
Author(s):  
Tak-Lai Daryl Luk ◽  
John E. Sneckenberger
Keyword(s):  
Free Space ◽  
Robot Manipulator ◽  
Joint Space ◽  
Robot Arm ◽  
New Approach ◽  
Cartesian Space ◽  
Manipulator Arm ◽  
Arm Motion ◽  
Space Boundary ◽  
Crank Mechanism

Abstract Most of the methods for planning collision-free robot manipulator arm morions to accomplish collision-free end-effector paths are based on explicit representation of the sub-space of the robot work space that is free of arm motion with obstacles collision. This sub-space is called the robot arm free space and most path planners represent this free space in joint space. If the robot arm free space is represented in joint space, then each point in the free space corresponds to a robot arm configuration for which no arm-obstacle collision occurs. This paper presents a new approach for generating the robot arm free space for an articulated type robot manipulator. This approach uses an oscillating slider crank mechanism for defining the free-space boundary when certain arm-obstacle collisions occurs. The robot arm free space, importantly, is generated in Cartesian space instead of joint space.

scholarly journals Self-tuning Fuzzy Task Space Controller for Puma 560 Robot

2018 ◽  
Vol 7 (4) ◽  
pp. 273
Author(s):  
Azita Azarfar
Keyword(s):  
High Performance ◽  
Control Method ◽  
Fuzzy Controller ◽  
Robot Manipulator ◽  
Joint Space ◽  
Robot Arm ◽  
Task Space ◽  
Scaling Factors ◽  
Cartesian Space ◽  
Self Tuning

Since in most robot applications the desired paths are determined in task space or Cartesian space, it is important to control the robot arm in task space. In this paper a fuzzy controller with modifiable scaling factors is proposed to control the robot end-effector in task space. The controller is a fuzzy system with a mechanism to change the scaling factors when the error is bounded under a predetermined value. The controller is designed in joint space and is developed to work space by using inverse Jacobian strategy. The simulations results on Puma 560 robot manipulator illustrate the high performance of presented control method.

scholarly journals Software Sensor to Enhance Online Parametric Identification for Nonlinear Closed-Loop Systems for Robotic Applications

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3653
Author(s):  
Lilia Sidhom ◽  
Ines Chihi ◽  
Ernest Nlandu Kamavuako
Keyword(s):  
Degrees Of Freedom ◽  
Closed Loop ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Parametric Identification ◽  
Recursive Least Squares ◽  
Unknown Parameters ◽  
Closed Loop Identification ◽  
Input Variables ◽  
Robotic Applications

This paper proposes an online direct closed-loop identification method based on a new dynamic sliding mode technique for robotic applications. The estimated parameters are obtained by minimizing the prediction error with respect to the vector of unknown parameters. The estimation step requires knowledge of the actual input and output of the system, as well as the successive estimate of the output derivatives. Therefore, a special robust differentiator based on higher-order sliding modes with a dynamic gain is defined. A proof of convergence is given for the robust differentiator. The dynamic parameters are estimated using the recursive least squares algorithm by the solution of a system model that is obtained from sampled positions along the closed-loop trajectory. An experimental validation is given for a 2 Degrees Of Freedom (2-DOF) robot manipulator, where direct and cross-validations are carried out. A comparative analysis is detailed to evaluate the algorithm’s effectiveness and reliability. Its performance is demonstrated by a better-quality torque prediction compared to other differentiators recently proposed in the literature. The experimental results highlight that the differentiator design strongly influences the online parametric identification and, thus, the prediction of system input variables.

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