Trajectory Optimization and Simulation of Aerospace Robotic Arm

Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

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A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

Robotica ◽

10.1017/s0263574704000529 ◽

2005 ◽

Vol 23 (1) ◽

pp. 123-129 ◽

Cited By ~ 37

Author(s):

John Q. Gan ◽

Eimei Oyama ◽

Eric M. Rosales ◽

Huosheng Hu

Keyword(s):

Analytical Solution ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Manipulators ◽

Robotic Arm ◽

Effective Solution ◽

Robotic Arms ◽

Unstructured Environment ◽

Inverse Kinematics Problem

For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kinematics of the P2Arm, which makes it possible to control the arm to any reachable position in an unstructured environment. The strategies developed in this paper could also be useful for solving the inverse kinematics problem of other types of robotic arms.

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Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

International Journal of Artificial Intelligence & Robotics (IJAIR) ◽

10.25139/ijair.v3i1.3787 ◽

2021 ◽

Vol 3 (1) ◽

pp. 27-35

Author(s):

Akhmad Fahruzi ◽

Bimo Satyo Agomo ◽

Yulianto Agung Prabowo

Keyword(s):

Inverse Kinematics ◽

Robotic Arm ◽

Robot Arm ◽

Fixed Position ◽

End Effector ◽

Robotic Arms ◽

Work Area ◽

Intended Object ◽

Place Of Origin ◽

Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

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Kinematics Analysis of Manipulator using Soft Computing Technique

International Journal of Engineering and Advanced Technology - Regular Issue ◽

10.35940/ijeat.a9454.109119 ◽

2019 ◽

Vol 9 (1) ◽

pp. 996-1003

Keyword(s):

Inverse Kinematics ◽

Firefly Algorithm ◽

Robotic Arm ◽

Kinematics Analysis ◽

Home Position ◽

Computing Technique ◽

Industrial Robotics ◽

Spherical Wrist ◽

Soft Computing Technique ◽

Six Dof

In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics. Kinematics provides the rational explication of a robotic manipulator. For the analysis of industrial robotics manipulator a particular type of kinematics model is required. The Denavit Hartenberg criterion has been used to solve the kinematics equations. MATLAB, Firefly Algorithm (FFA) and Roboanalyzer have been used to get the home position and differences in error at different values of six-DOF manipulator. Error can be optimized to as low as 10-17with the firefly algorithm.

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Mechanical Characteristic Design of Six-Axis Manipulator Based On Forward and Inverse Kinematics Model

2020 7th International Forum on Electrical Engineering and Automation (IFEEA) ◽

10.1109/ifeea51475.2020.00108 ◽

2020 ◽

Author(s):

Lingzhen Sun ◽

Shuo Ye

Keyword(s):

Mechanical Characteristic ◽

Inverse Kinematics ◽

Kinematics Model ◽

Forward And Inverse Kinematics

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The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA) ◽

10.1109/iciea.2012.6360783 ◽

2012 ◽

Cited By ~ 4

Author(s):

Mihai Crenganis ◽

Radu Breaz ◽

Gabriel Racz ◽

Octavian Bologa

Keyword(s):

Fuzzy Logic ◽

Inverse Kinematics ◽

Robotic Arm

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Algebraic models based on trigonometric and Cramer's rules for computing inverse kinematics of robotic arm

International Journal of Mechatronics and Automation ◽

10.1504/ijma.2022.10044162 ◽

2022 ◽

Vol 1 (1) ◽

pp. 1

Author(s):

Riza Sulaiman ◽

Wan Azlan Wan Hassan ◽

Muhammad Fairuz Abd. Rauf ◽

Zuraidy Adnan ◽

Raja Mohd. Tariqi Raja Lope Ahmad ◽

...

Keyword(s):

Inverse Kinematics ◽

Robotic Arm ◽

Algebraic Models

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Design and Implementation of Inverse Kinematics Algorithm to Manipulate 5-DOF Humanoid Robotic Arm

10.1109/3ict53449.2021.9581570 ◽

2021 ◽

Author(s):

Ammar A. Al-Hamadani ◽

Mohammed Z. Al-Faiz

Keyword(s):

Inverse Kinematics ◽

Robotic Arm ◽

Design And Implementation

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Improved Artificial Potential Field Method Manipulator Inverse Kinematics

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.273.119 ◽

2013 ◽

Vol 273 ◽

pp. 119-123

Author(s):

Ding Jin Huang ◽

Teng Liu

Keyword(s):

Potential Field ◽

Inverse Kinematics ◽

Search Space ◽

Field Method ◽

Robotic Arm ◽

Artificial Potential Field ◽

Robot Arm ◽

Potential Field Method ◽

Inverse Kinematics Problem ◽

Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

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