Research on the Kinematics of Line Heating Robot Based on SVM

2014 ◽  
Vol 668-669 ◽  
pp. 361-365
Author(s):  
Yan Li ◽  
You Li Chen
Keyword(s):  
Inverse Kinematics ◽  
Geometric Model ◽  
Forward Kinematics ◽  
Robot Kinematics ◽  
Support Vector ◽  
Line Heating ◽  
Kinematics Model ◽  
Heating Plate ◽  
Kinematics Modeling ◽  
Complex Trajectory

The paper mainly analyzed the robot kinematics of the line heating plate. In order to realize the moving of complex trajectory for the robot, a forward kinematics modeling and the simulation of inverse kinematics are carried out. Firstly, with the D-H modeling method, the line heating plate robot forward kinematics equations and the spatial geometric model of the manipulator are set up, then multi-input multi-output systems based on support vector machines algorithm is used to establish the inverse kinematics model for the robot . At last, the simulations of tracing complex trajectory with the inverse kinematics model are carried out, and the results show that the model derived by SVM can trace the trajectory very well.

Inverse Kinematics Model of a Bucket Excavator’s Digging Equipment

2015 ◽  
Vol 762 ◽  
pp. 11-19
Author(s):  
Marian Dima ◽  
Cătălin Frâncu
Keyword(s):  
Matrix Method ◽  
Inverse Kinematics ◽  
Geometric Model ◽  
Forward Kinematics ◽  
Kinematics Model ◽  
The Matrix

This paper presents a method to build the inverse kinematics model of a bucket excavator’s digging equipment. The model is determined by using two different methods, the matrix method applied on the decoupled forward kinematics model and respectively the geometric model.

Robust and efficient forward, differential, and inverse kinematics using dual quaternions

2020 ◽  
pp. 027836492093194
Author(s):  
Neil T Dantam
Keyword(s):  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Robot Kinematics ◽  
Dual Numbers ◽  
Dual Quaternion ◽  
Implicit Representation ◽  
Alternative Representation ◽  
Transformation Matrices ◽  
Dual Quaternions ◽  
Efficient Representation

Modern approaches for robot kinematics employ the product of exponentials formulation, represented using homogeneous transformation matrices. Quaternions over dual numbers are an established alternative representation; however, their use presents certain challenges: the dual quaternion exponential and logarithm contain a zero-angle singularity, and many common operations are less efficient using dual quaternions than with matrices. We present a new derivation of the dual quaternion exponential and logarithm that removes the singularity, we show an implicit representation of dual quaternions offers analytical and empirical efficiency advantages compared with both matrices and explicit dual quaternions, and we derive efficient dual quaternion forms of differential and inverse position kinematics. Analytically, implicit dual quaternions are more compact and require fewer arithmetic instructions for common operations, including chaining and exponentials. Empirically, we demonstrate a 30–40% speedup on forward kinematics and a 300–500% speedup on inverse position kinematics. This work relates dual quaternions with modern exponential coordinates and demonstrates that dual quaternions are a robust and efficient representation for robot kinematics.

Machining Performance Evaluation of Robot Type Machine Tool Based on Forward Kinematics Model

2020 ◽  
Author(s):  
Akio Hayashi ◽  
Masato Ueki ◽  
Keisuke Nagao ◽  
Hiroto Tanaka ◽  
Yoshitaka Morimoto ◽  
...  
Keyword(s):  
Machine Tools ◽  
Geometric Model ◽  
Forward Kinematics ◽  
Machining Accuracy ◽  
Machining Performance ◽  
Kinematics Model ◽  
Link Mechanism ◽  
Conventional Machine ◽  
Type Machine ◽  
Parallel Link

Abstract Robot type machine tools with parallel link mechanism are characterized by the performance to change tool posture and machine wider range than conventional machine tools. It is realized by simultaneous multi-axis control of parallel link mechanism. However, there are some problems, it is difficult to identify and adjust alignment error. In addition, the machining performance is unidentified due to the rigidity is different from conventional machine tools. In this research, a geometric model is described and the forward kinematics model is derived based on the geometric model. Then, the machining tests were carried out to evaluate the machining accuracy by measured machined surface and the simulated motion of tool cutting edge based on proposed forward kinematics model.

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.

Robotize Kinematics Modeling on the Loading Mechanism of Back-Loaded Compressed Dust Cart

2011 ◽  
Vol 63-64 ◽  
pp. 1013-1017
Author(s):  
Ji Bin Ding
Keyword(s):  
Product Design ◽  
Coordinate Transformation ◽  
Three Dimensional ◽  
Transformation Process ◽  
Design Methods ◽  
Robot Kinematics ◽  
Kinematics Model ◽  
Manufacturing Quality ◽  
Kinematics Modeling

The three-dimensional geometric kinematics model of the loading mechanism of back-loaded compressed dust cart is established based on the robot kinematics principle and Denavit-Hartenberg（D-H） method. In this paper, the loading mechanism's principle is discussed and it’s institutions simplified robotize model is established, coordinate transformation process and gesture of the skateboard and scraper of the loading mechanism have been studied in the D-H coordinate, has certain significance for improving the product design methods and the manufacturing quality.

Design and Kinematics Modeling of a Novel 3-DOF Monolithic Manipulator Featuring Improved Scott-Russell Mechanisms

2013 ◽  
Vol 135 (10) ◽  
Author(s):  
Yanding Qin ◽  
Bijan Shirinzadeh ◽  
Dawei Zhang ◽  
Yanling Tian
Keyword(s):  
Piezoelectric Actuator ◽  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Computational Results ◽  
Amplification Ratio ◽  
Flexure Hinges ◽  
Reachable Workspace ◽  
Revolute Joints ◽  
Kinematics Modeling ◽  
Computational Analyses

This paper proposes the design of a novel 3-DOF monolithic manipulator. This manipulator is capable of performing planar manipulations with three kinematically coupled DOFs, i.e., the translations in the X and Y axes and the rotation about the Z axis. An improved Scott-Russell (ISR) mechanism is utilized to magnify the displacement of the piezoelectric actuator (PEA). Unlike the SR mechanism, a set of leaf parallelograms is incorporated into the drive point of the ISR mechanism as a prismatic joint. As a result, the linearity of motion and stability are improved. With circular flexure hinges being treated as revolute joints, the forward kinematics and inverse kinematics of the 3-DOF manipulator are analytically derived. Computational analyses are performed to validate the established kinematics models. Due to the unwanted compliance of the flexure hinges, the actual displacement amplification ratio of the ISR mechanism is smaller than its theoretical value. This is the main cause of the discrepancies between the analytical and computational results. The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.

scholarly journals Forward Kinematics Model for Evaluation of Machining Performance of Robot Type Machine Tool

2021 ◽  
Vol 15 (2) ◽  
pp. 215-223
Author(s):  
Akio Hayashi ◽  
Hiroto Tanaka ◽  
Masato Ueki ◽  
Hidetaka Yamaoka ◽  
Nobuaki Fujiki ◽  
...  
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Geometric Model ◽  
Forward Kinematics ◽  
Machining Accuracy ◽  
Machining Performance ◽  
Machined Surface ◽  
Kinematics Model ◽  
Tool Posture ◽  
Type Machine

Robot-type machine tools are characterized by the ability to change the tool posture and machine itself with a wider motion range than conventional machine tools. The motion of the robot machine tool is realized by simultaneous multi-axis control of link mechanisms. However, when the robot machine tool performs a general milling process, some problems that affect the machining accuracy occur. Moreover, it is difficult to identify the motion errors of each axis, which influence machining accuracy. Thus, it is difficult to adjust the servo gain and alignment error. In addition, the machining performance is unidentified because of the rigidity differences when the posture changes. In this study, the focus was on robot-type machine tools consisting of a serial and a parallel link mechanism. A geometric model is described, and the forward kinematics model is derived based on the geometric model. Machining tests were then carried out to evaluate the machining accuracy by measuring the machined surfaces and the simulated motion of the tool posture based on the proposed forward kinematics model to identify the mechanism that affects the machined surface roughness and surface waviness. As a result, it was shown that the proposed model can separate and reproduce the behavior of each axis of the machine. Finally, it was clarified that the behavior of the second axis has a great influence on the tool posture and machined surface.

Kinematics Modeling of a Notched Continuum Manipulator

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Zhijiang Du ◽  
Wenlong Yang ◽  
Wei Dong
Keyword(s):  
Curve Fitting ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Forward Kinematics ◽  
Kinematics Modeling ◽  
Continuum Manipulators ◽  
Continuum Manipulator ◽  
The Continuum

In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using Denavit–Hartenberg (D–H) procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DOF) is simplified into finite discrete joints. Based on that hypothesis, the mapping from the discrete joints to the distal position of the continuum manipulator is built up via the mechanics model. On the other hand, to reduce the effect of the hyper-redundancy for the continuum manipulator's inverse kinematic model, the “curve-fitting” approach is utilized to map the end position to the deformation angle of the continuum manipulator. By the proposed strategy, the inverse kinematics of the hyper-redundant continuum manipulator can be solved by using the traditional geometric method. Finally, the proposed methodologies are validated experimentally on a triangular notched continuum manipulator which illustrates the capability and the effectiveness of our proposed kinematics for continuum manipulators and also can be used as a generic method for such notched continuum manipulators.

Kinematics Simulation of Industrial Robot Based on MATLAB

2011 ◽  
Vol 415-417 ◽  
pp. 690-696
Author(s):  
Han Ming Cai ◽  
Ting Ting Xing
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Transformation Method ◽  
Forward Kinematics ◽  
Robot Kinematics ◽  
Kinematics Simulation ◽  
Target Matrix ◽  
Six Dof ◽  
Coordinate Transformation Method ◽  
Robot Modeling

In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.

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