Inverse Kinematic Simulation of Industrial Robotic Manipulators Using RecurDyn and Matlab with Experiment Verification

2020 ◽  
Vol 900 ◽  
pp. 35-43
Author(s):  
Yunn Lin Hwang ◽  
Jung Kuang Cheng ◽  
Thanh Dat Pham
Keyword(s):  
Computer Science ◽  
Dynamic Simulation ◽  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Industrial Robots ◽  
Dynamic Study ◽  
Kinematic Parameters ◽  
Kinematic Simulation ◽  
Experiment Verification ◽  
Cae Simulation

The simulation and application of industrial robots has developed very quickly in recent decades. Along with the development of computer science, a lot of softwares to perform dynamic simulation have been created. The results of simulation can be used for layout evaluation, kinematic, dynamic study, off-line programming to avoid obstacle and for design mechanical structure of robots. A co-simulation of 2R industrial robots have been performed by Recurdyn and Matlab. The input parameters are executed under Matlab, and then exported to Recurdyn environment. Kinematic parameters will be executed by RecurDyn then exported to Matlab. The main tasks of this paper are performing 2R robotic manipulator kinematic simulation in two postures with the same trajectory and the same time. Thus, the result of simulation can be compared with theories. Finally, a real 2R robot model was used to verify the trajectory with CAE simulation.

An Analytical Inverse Kinematics Solution Method for Robotic Manipulators

2000 ◽  
Author(s):  
Tuna Balkan ◽  
M. Kemal Özgören ◽  
M. A. Sahir Arikan ◽  
H. Murat Baykurt
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Industrial Robots ◽  
Solution Approach ◽  
Joint Variable ◽  
Forward Kinematic ◽  
Six Degree Of Freedom ◽  
Kinematic Solution

Abstract In this study, an inverse kinematic solution approach applicable to six degree-of-freedom industrial robotic manipulators is introduced. The approach is based on a previously introduced kinematic classification of industrial robotic manipulators by Balkan et al. (1999), and depending on the kinematic structure, either an analytical or a semi-analytical inverse kinematic solution is obtained. The semi-analytical method is named as the parametrized joint variable (PJV) method. Compact forward kinematic equations obtained by utilizing the properties of exponential rotation matrices. In the inverse kinematic solutions of the industrial robots surveyed in the previous study, most of the simplified compact equations can be solved analytically and the remaining few of them can be solved semi-analytically through a numerical solution of a single univariate equation. In these solutions, the singularities and the multiple configurations of the manipulators can be determined easily. By the method employed in this study, the kinematic and inverse kinematic analysis of any manipulator or designed-to-be manipulator can be performed and using the solutions obtained, the inverse kinematics can also be computerized by means of short and fast algorithms. As an example for the demonstration of the applicability of the presented method to manipulators with closed-chains, ABB IRB2000 industrial robot is selected which has a four-bar mechanism for the actuation of the third link, and its compact forward kinematic equations are given as well as the inverse kinematic solution.

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

Dynamic Calibration for Serial Robotic Manipulators Based on the Zero Position Analysis Method

1989 ◽  
Author(s):  
G. Z. Qian ◽  
K. Kazerounian
Keyword(s):  
Robotic Manipulators ◽  
Calibration Method ◽  
Dynamic Calibration ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Dynamic Parameters ◽  
Analysis Method ◽  
Kinematic Parameters ◽  
Position Analysis ◽  
Zero Position

Abstract In the continuation of a kinematic calibration method developed in a previous report, a new dynamic calibration model for serial robotic manipulators is presented in this paper. This model is based on the Zero Position Analysis Method. It entails the process of estimating the errors in the robot’s dynamic parameters by assuming that the kinematic parameters are free of errors. The convergence and effectiveness of the model are demonstrated through numerical simulations.

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.

scholarly journals Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881829 ◽  
Author(s):  
Rongbo Zhao ◽  
Zhiping Shi ◽  
Yong Guan ◽  
Zhenzhou Shao ◽  
Qianying Zhang ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Matrix Theory ◽  
Screw Theory ◽  
Robot Manipulator ◽  
Inverse Kinematic ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Kinematics Modeling ◽  
High Level ◽  
Kinematic Solution

The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to parallel. As a result, this model is not suitable for kinematic calibration. In this article, to avoid the problem of singularity, the product of exponentials method based on screw theory is employed for kinematics modeling. In addition, the inverse kinematics of the 6R robot manipulator is solved by adopting analytical, geometric, and algebraic methods combined with the Paden–Kahan subproblem as well as matrix theory. Moreover, the kinematic parameters of the Denavit–Hatenberg and the product of exponentials-based models are analyzed, and the singularity of the two models is illustrated. Finally, eight solutions of inverse kinematics are obtained, and the correctness and high level of accuracy of the algorithm proposed in this article are verified. This algorithm provides a reference for the inverse kinematics of robots with three adjacent parallel joints.

Industrial Robot Kinematics Parameter Identification

2014 ◽  
Vol 889-890 ◽  
pp. 1136-1143
Author(s):  
Yong Gui Zhang ◽  
Chen Rong Liu ◽  
Peng Liu
Keyword(s):  
Experimental Data ◽  
Genetic Algorithms ◽  
Parameter Identification ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
Unknown Parameters ◽  
Preliminary Measurement ◽  
Kinematics Modeling

For an industrial robots with unknown parameters, on the basis of preliminary measurement and data of the Cartesian and joints coordinates which are shown on the FlexPendant, the kinematic parameters is identified by using genetic algorithms and accurate kinematics modeling of the robot is established. Experimental data could prove the validity of this method.

Implementation and Experiment Verification of a Metro Power Traction Simulator System

2011 ◽  
Vol 130-134 ◽  
pp. 2701-2704
Author(s):  
Xing Jian Dong ◽  
Sheng Xian Zhuang ◽  
Ai Ping Liu
Keyword(s):  
Dynamic Simulation ◽  
Diagnosis System ◽  
Experiment Verification ◽  
Traction System

A metro power traction simulator system is designed and implemented. Designation method of the flywheels which simulate the metro vehicle moment inertia is given. A train runtime diagnosis system is completed by adopting MVB protocol. The dynamic simulation of metro power traction system is realized under the control of train runtime diagnosis system. The feasibility and utility are proved by the experiment results.

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