Kinematic Modeling for a 6-DOF Industrial Robot

2012 ◽  
Vol 590 ◽  
pp. 471-474 ◽  
Author(s):  
Guan Bin Gao ◽  
Jian Lu ◽  
Jian Jun Zhou
Keyword(s):  
Motion Control ◽  
Structural Characteristics ◽  
Industrial Robot ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Great Influence ◽  
Robot Motion ◽  
Coordinate Systems ◽  
Kinematic Modeling ◽  
Position And Orientation

The kinematic model of robots is to describe the nonlinear relationship between the displacement of joints and the position and orientation of the end-effector, which is an important part of robotics. Kinematic model has great influence on the robot’s accuracy and motion control. In this paper, we studied the robot’s kinematic modeling methods and analyzed the characteristics and singularity of traditional DH method. By analyzing and comparing the structural characteristics of a 6-DOF industrial robot a MDH method was chosen to establish kinematic model. From the kinematic model the joint coordinate systems, structural parameters and homogeneous transformation matrixes of the robot are obtained. The kinematic model provides a theoretical basis for the robot motion control, calibration and error compensation.

Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2012 ◽  
Vol 241-244 ◽  
pp. 494-497
Author(s):  
Guan Bin Gao ◽  
Wen Wang ◽  
Hong Qiang Li ◽  
Jian Jun Zhou
Keyword(s):  
Structural Characteristics ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Measurement Range ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Graphical Simulation ◽  
Measuring Machine ◽  
Numerical Computing

The articulated arm coordinate measuring machine (AACMM) is a new type coordinate measuring machine (CMM) base on the linkage structure with the characteristics of small size, light weight, large measurement range and flexible movement. The kinematic modeling methods of six degree of freedom (6-DOF) AACMMs are studied in this paper. By analyzing the structural characteristics of AACMMs the kinematic model of a 6-DOF AACMM with DH method was established. From the kinematic model the coordinate systems and structural parameters of the AACMM are obtained. Then the homogeneous transformation matrixes from the probe to the base of the AACMM are derived. Finally, methods of numerical computing and graphical simulation are used in verifying the kinematic model. The kinematic model provides a basis for measurement, calibration and error compensation of the AACMM.

scholarly journals Modeling in ADAMS of a 6R industrial robot

2018 ◽  
Vol 184 ◽  
pp. 02006
Author(s):  
Mariana Ratiu ◽  
Alexandru Rus ◽  
Monica Loredana Balas
Keyword(s):  
Dynamic Analysis ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Future Research ◽  
Robot Motion ◽  
Cad Model ◽  
3D Cad ◽  
Revolute Joints ◽  
Real Model ◽  
Articulated Robot

In this paper, we present the first steps in the process of the modeling in ADAMS MBS of MSC software of the mechanical system of an articulated robot, with six revolute joints. The geometric 3D CAD model of the robot, identical to the real model, in the PARASOLID format, is imported into ADAMS/View and then are presented the necessary steps for building the kinematic model of the robot. We conducted this work, in order to help us in our future research, which will consist of kinematic and dynamic analysis and optimization of the robot motion.

scholarly journals Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial

2021 ◽  
Vol 15 (5) ◽  
pp. 599-610
Author(s):  
Md. Moktadir Alam ◽  
◽  
Soichi Ibaraki ◽  
Koki Fukuda
Keyword(s):  
Present Model ◽  
Industrial Robot ◽  
Local Coordinate System ◽  
Kinematic Model ◽  
Kinematic Modeling ◽  
Positioning Accuracy ◽  
Rotary Axis ◽  
Model Based ◽  
Absolute Positioning ◽  
The Absolute

In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has been investigated extensively. The main objective of this study is to review the kinematic modeling theory for a six-axis industrial robot. In the form of a tutorial, this paper defines a local coordinate system based on the position and orientation of the rotary axis average lines, as well as the derivation of the kinematic model based on the coordinate transformation theory. Although the present model is equivalent to the classical D-H model, this study shows that a different kinematic model can be derived using a different definition of the local coordinate systems. Subsequently, an algorithm is presented to identify the error sources included in the kinematic model based on a set of measured end-effector positions. The identification of the classical D-H parameters indicates a practical engineering application of the kinematic model for improving a robot’s positioning accuracy. Furthermore, this paper presents an extension of the present model, including the angular positioning deviation of each rotary axis. The angular positioning deviation of each rotary axis is formed as a function of the axis’ command angles and the direction of its rotation to model the effect of the rotary axis backlash. The identification of the angular positioning deviation of each rotary axis and its numerical compensation are presented, along with their experimental demonstration. This paper provides an essential theoretical basis for the error source diagnosis and error compensation of a six-axis robot.

scholarly journals Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Lu-Han Ma ◽  
Yong-Bo Zhong ◽  
Gong-Dong Wang ◽  
Nan Li
Keyword(s):  
Numerical Calculation ◽  
Error Analysis ◽  
Motion Control ◽  
Lie Group ◽  
Kinematic Analysis ◽  
Kinematic Model ◽  
Modeling Method ◽  
Calibration Error ◽  
Kinematic Modeling ◽  
Closed Chain

The robot kinematic model is the basis of motion control, calibration, error analysis, etc. Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality. DH model as the most widely used method to build robot kinematic model still has problems in completeness, model continuity, and calculation, especially for robots with complex mechanisms such as closed chain mechanism and branch mechanism. In this paper, an improved kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept. The improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm. With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated. The results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly. The kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot.

Design of the Calculative Software of the Dynamics Analysis on a Type Palletizing Robot on Matlab

2012 ◽  
Vol 630 ◽  
pp. 222-225 ◽  
Author(s):  
Su Xia Zhu ◽  
Quan Sheng Lei ◽  
Jin Quan Li
Keyword(s):  
Kinematic Model ◽  
Robot Motion ◽  
Dynamics Analysis ◽  
Force Condition ◽  
Orientation Change ◽  
Position And Orientation

For a palletizing robot, its dynamic statics equations are established. The calculative software of the palletizing robot’s kinematic model is designed and established by using Matlab. The force condition of key axes and key parts in the process of palletizing robot motion with the position and orientation change can be got by the calculative software, and the concrete applications of the calculative software are introduced by an example. The calculative software provides convenience for the selection and check of motor and reducer.

scholarly journals Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

JURNAL ELTEK ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 108
Author(s):  
Muhammad Jodi Pamenang ◽  
Indrazno Siradjuddin ◽  
Budhy Setiawan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
Kinematic Model ◽  
Robot Motion ◽  
Control Law ◽  
Task Space ◽  
Wheeled Mobile Robots ◽  
Simulation Experiments ◽  
Omnidirectional Mobile Robot

Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial.   The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration.  This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially

Development of Robotic CAM System That Generates Online Motion Supported by CLS and NC Data

2020 ◽  
pp. 1-27
Author(s):  
Fusaomi Nagata ◽  
Maki K. Habib ◽  
Takamasa Kusano ◽  
Keigo Watanabe
Keyword(s):  
Motion Control ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Numerical Control ◽  
Open Architecture ◽  
Time Motion ◽  
Cad Cam ◽  
Position And Orientation ◽  
Nc Data ◽  
Cam Systems

This chapter describes the development of a robotic CAM system for six-DOFs articulated industrial robot to generate online motion supported by cutter location source (CLS) data and numerical control (NC) data. The robotic CAM system realizes a practical data interface between industrial robots with open architecture controllers and commercially available CAD/CAM systems, and it includes functions that generate minute position and orientation components for real time motion control from CLS data and NC data without the need for teaching. The design principles of the developed robotic CAM system, and the experimental results on three real robots, RV1A, VS068, and FANUC R2000iC, are presented and demonstrated using both CLS and NC data generated through the developed CAM system.

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