Kinematic Analysis and Digital Mock-up Based Hybrid Verification about the Industrial Robot with Symmetric Dual Planar Four-Bar Mechanism

2012 ◽  
Vol 251 ◽  
pp. 191-195
Author(s):  
Xiao Xi Chen ◽  
Ping He ◽  
Liu Han
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Forward Kinematics ◽  
Kinematic Modeling ◽  
Inverse Kinematics Problem

In this paper, the context of relative kinematic modeling, and the analysis of symmetric dual four-bar mechanism industrial robot are introduced. For such mechanism, its designation of the representative algorithm, and its simplification, simulation, verification and alternately analysis in Forward Kinematics Problems (FKP) and Inverse Kinematics Problem (IKP) were studied. Via such method, it’s possible to efficiently analyze and solve the both of FKP and IKP of symmetric dual planar four-bar mechanism. Thus this method can be applied for the design, simulation and verification for the robot with similar structure.

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.

Increase the Space Trajectory Precision by Using the Proper Assisted Research Method for Inverse Kinematics Problem

2015 ◽  
Vol 789-790 ◽  
pp. 711-716 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru ◽  
Niculae Mihai
Keyword(s):  
Inverse Kinematics ◽  
Numerical Approximation ◽  
Jacobian Matrix ◽  
Industrial Robot ◽  
Forward Kinematics ◽  
Hyperbolic Tangent ◽  
Space Curves ◽  
Inverse Kinematics Problem ◽  
Pseudo Inverse

Inverse kinematics model of the industrial robot is used in the control of the end-effecter trajectory. The solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible. In these cases is used the numerical approximation or other method with diffuse logic. The paper showed one new method for optimization of the inverse cinematic solution by applying the proper assisted Iterative Pseudo Inverse Jacobian Matrix Method coupled with proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links Method (IPIJMM-SBHTNN-TDRLM). In the paper was shown one case study to obtain one space circle curve by using one arm type robot and the proposed method. The errors of the space coordinates of the circle, after applying the proposed method, was less than 0.001. The study has contained the determining the internal coordinates corresponding to the external coordinates of the circle space curve, by solving the inverse kinematics with the proposed method and after that, by applying the forward kinematics to this coordinates, were obtained the external coordinates, what were compared with the theoretical one. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.

Kinematics Design for Structures and Algorithms

2012 ◽  
pp. 15-29
Author(s):  
Ding Xilun ◽  
Chen Hao ◽  
Xu Kun
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Quadruped Robot ◽  
Service Robots ◽  
Forward Kinematics ◽  
Inverse Kinematics Problem

The purpose of this chapter is to present the kinematic analysis of service robots using the Product of Exponential (PoE) formula. The forward kinematics problem and inverse kinematics problem are discussed and the Jacobian is obtained too. A model of quadruped robot will be used as an example in corresponding sections in order to facilitate understanding.

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.

A Method of Inverse Kinematics Solution for a Class of Robotic Manipulators

1997 ◽  
Author(s):  
Tuna Balkan ◽  
M. Kemal Özgören ◽  
M. A. Sahir Arikan ◽  
H. Murat Baykurt
Keyword(s):  
Nonlinear Equation ◽  
Analytical Method ◽  
Multiple Solutions ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Singular Configurations ◽  
Inverse Kinematics Problem ◽  
Joint Variable

Abstract A semi-analytical method and a computer program are developed for inverse kinematics solution of a class of robotic manipulators, in which four joint variables are contained in wrist point equations. For this case, it becomes possible to express all the joint variables in terms of a joint variable, and this reduces the inverse kinematics problem to solving a nonlinear equation in terms of that joint variable. The solution can be obtained by iterative methods and the remaining joint variables can easily be computed by using the solved joint variable. Since the method is manipulator dependent, the equations will be different for kinematically different classes of manipulators, and should be derived analytically. A significant benefit of the method is that, the singular configurations and the multiple solutions indicated by sign ambiguities can be determined while deriving the inverse kinematic expressions. The developed method is applied to a six-revolute-joint industrial robot, FANUC Arc Mate Sr.

Inverse Kinematics of Discretely-Actuated Manipulators Within a Bounded Grid Element

2006 ◽  
Author(s):  
Deanne C. Kemeny ◽  
Raymond J. Cipra
Keyword(s):  
Inverse Kinematics ◽  
Lower Cost ◽  
Robotic Manipulators ◽  
Forward Kinematics ◽  
End Effector ◽  
Grid Element ◽  
The Third ◽  
Inverse Kinematics Problem

Discretely-actuated manipulators are defined in this paper as serial planar chains of many links and are an alternative to traditional robotic manipulators, where continuously variable actuators are replaced with discrete, or digital actuators. Benefits include reduced weight and complexity, and predictable manipulation at lower cost. Challenges to using digital manipulators are the discrete end-effector positions which make the inverse kinematics problem difficult to solve. Furthermore, for a specific application position in the manipulator workspace, there may not be an actual end-effector position. This research has relaxed the inverse kinematics problem around this challenge making each application position an element of a grid in which the end effector must reach. There may be many possible end-effector positions that would reach the element goal, the solution uses the first one that is found. The inverse kinematics solution assumes the assembly configuration of the digital manipulator is already solved specifically for the application grid. The Jacobian function, normally used to solve joint velocities, can be used to identify the exact shift vectors that are used for the inverse kinematics. Three methods to solve this problem are discussed and the third method was implemented as a four-part solution that is a directed and manipulated search for the inverse kinematics solution where all four solutions may be needed. A discussion of forward kinematics and the Jacobian function in relation to digital manipulators is also presented.

Analysis of the Kinematics of an Eight-Wheeled Mobile Platform

2013 ◽  
Vol 198 ◽  
pp. 67-72
Author(s):  
Marek Stania
Keyword(s):  
Inverse Kinematics ◽  
Object Motion ◽  
Forward Kinematics ◽  
Contact Phenomenon ◽  
Kinematics Model ◽  
Inverse Kinematics Problem ◽  
Transport Vehicle ◽  
Forward And Inverse Kinematics ◽  
Motion Parameters ◽  
Simulation Results

This paper presents the modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved, additionally examples of simulation results representing the changes of individual motion parameters have been presented. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended while the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to verify correctness of the studied kinematics model. The presented simulation results point out compatibility of the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

2013 ◽  
Vol 313-314 ◽  
pp. 937-940 ◽  
Author(s):  
Yong Guo Zhao ◽  
Yong Fei Xiao ◽  
Tie Chen
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Forward Kinematics ◽  
Kinematics Analysis

In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

scholarly journals Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra

2013 ◽  
Vol 5 (3) ◽  
Author(s):  
Zhongtao Fu ◽  
Wenyu Yang ◽  
Zhen Yang
Keyword(s):  
Real Time ◽  
Geometric Algebra ◽  
Multiple Solutions ◽  
Inverse Kinematics ◽  
Robot Manipulators ◽  
Kinematic Modeling ◽  
Highly Nonlinear ◽  
Inverse Kinematics Problem ◽  
Painting Robot ◽  
Serial Robot

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

scholarly journals A Parallel Manipulator With Only Translational Degrees of Freedom

1996 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Richard Stamper
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Forward Kinematics ◽  
Closed Form Solutions ◽  
Real Solutions ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Three Degree Of Freedom

Abstract This paper presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.

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