An Inverse Kinematics Demonstration of a Custom Robot using C# and CoppeliaSim

Purpose: Inverse Kinematics (I.K.) is not as easy as Forward kinematics (F.K.), where we get a definite result. I.K. algorithm provides several possible solutions. From those finding the best solution is such a critical task. For standard robots which are commercially available in the market, the user is not concerned about I.K.'s complexity. They provide the control board and programming IDE to make it easy. However, when we develop a robotic arm from our D.H. parameter and driver board, complexity arises due to lots of difficulties for executing and successful completion. To make life easy, keeping CoppeliaSim background can eliminate the calculation overhead and get good results. The custom robot is running with less computation power. It may be a good approach. We are using C# for User Interaction. Following step by step, anyone can create a robust I.K. engine with little effort. The complete code is available in GitHub to test and experiment further. Design/Methodology/Approach: The data are propagated through Interprocess communication. For the user interaction, we use visual studio IDE using the most accessible language, C#. The user interaction data are sent to another application, CoppeliaSim, which calculates inverse kinematics, and effective results are displayed through robotic arm movement. Findings/Result: Implementing this procedure can get the excellent result of the robotics arm. Furthermore, by imposing the Value on the real robot, we can get effective results. It minimizes the research overhead on I.K. calculation. Originality/Value: Without knowing I.K. calculation complexity, receiving the Value, we can apply it to the real robot. Two issues we can solve here. One is the calculation, and another one is experiment overhead. Paper Type: Simulation-based Research.

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A Custom Robotic ARM in CoppeliaSim

International Journal of Applied Engineering and Management Letters ◽

10.47992/ijaeml.2581.7000.0091 ◽

2021 ◽

pp. 38-50

Author(s):

Sudip Chakraborty ◽

P. S. Aithal

Keyword(s):

Inverse Kinematics ◽

Best Practice ◽

Human Life ◽

Robotic Arm ◽

Research Purpose ◽

Script Language ◽

Step Procedure ◽

Simulation Based ◽

Real Robot ◽

The Individual

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. Design/Methodology/Approach: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. Findings/Result: The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. Originality/Value: Using CoppeliaSim, we can design custom robot for our research. Paper Type: Simulation based Research

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Colour-based object detection, inverse kinematics algorithms and pinhole camera model for controlling robotic arm movement system

2015 Twelve International Conference on Electronics Computer and Computation (ICECCO) ◽

10.1109/icecco.2015.7416879 ◽

2015 ◽

Cited By ~ 1

Author(s):

R. R. Mussabayev

Keyword(s):

Object Detection ◽

Inverse Kinematics ◽

Arm Movement ◽

Pinhole Camera ◽

Robotic Arm ◽

Camera Model ◽

Movement System

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Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.762.305 ◽

2015 ◽

Vol 762 ◽

pp. 305-311

Author(s):

Mihai Crenganis ◽

Octavian Bologa

Keyword(s):

Fuzzy Logic ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

Redundancy Resolution ◽

The Real ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.657.823 ◽

2014 ◽

Vol 657 ◽

pp. 823-828

Author(s):

Mihai Crenganis ◽

Radu Eugen Breaz ◽

Sever Gabriel Racz ◽

Octavian Bologa

Keyword(s):

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

The Real ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.555.320 ◽

2014 ◽

Vol 555 ◽

pp. 320-326 ◽

Cited By ~ 1

Author(s):

Mihai Crenganis ◽

Radu Breaz ◽

Gabriel Racz ◽

Octavian Bologa

Keyword(s):

Fuzzy Logic ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

The Real ◽

Fuzzy Models ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

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Forward and Inverse Kinematics Demonstration using RoboDK and C#

International Journal of Applied Engineering and Management Letters ◽

10.47992/ijaeml.2581.7000.0095 ◽

2021 ◽

pp. 97-105

Author(s):

Sudip Chakraborty ◽

P. S. Aithal

Keyword(s):

User Interface ◽

Learning Curve ◽

Inverse Kinematics ◽

Industrial Robot ◽

Research Work ◽

Arm Movement ◽

Robotic Arm ◽

Software Environment ◽

Industrial Grade ◽

Forward And Inverse Kinematics

Purpose: Robot researchers need a simulator to understand better the algorithm on path planning, arm movement, and many more. They need a good simulator. RoboDK is an excellent simulator to fulfill the research work. It has calibration facilities, so it is industrial-grade software. Its forward and inverse kinematics accuracy is better than any competing software. The main advantage is all robots under one IDE. When we use an industrial robot, and we must use their software environment to operate the robot. But the RoboDK covers most of the robots and runs under one roof. And we need to learn only one IDE. The RoboDK online library is full of the standard robot. And all robot’s operation procedure is the same. So, the learning curve of new robots is easy. It is easy to simulate, and it can connect with a practical robot to execute the task. Using this software, we can quickly create digital twins for the industry. Now we think about control the robot from our application. When we use to control the robot from an external environment or remote software, we need the use the API to control the robot. Here we will see how easily we can operate the robot from our custom application. We adopted RoboDK C# API and integrated it into Visual studio using a User interface to control the robot movement. Keeping this research as a reference, the robotic arm researcher can add value to their research. Our primary purpose is to shorten the learning curve to integrate the RoboDK with their custom application. Design/Methodology/Approach: Taking the RoboDK C# API they provided, we customized it according to our purpose with minimal components. After developing a graphical user interface, we interact through API. Then, opening both RoboDK IDE and C# application, we can send the End effector position using the sliding movement. Findings/Result: After our research, we found that RoboDK is a good IDE for our research on the robotics arm. We can easily integrate the C# API they provided with our custom application for research purposes. Originality/Value: If we want to test robotic arm movement in the simulator, we need an excellent simulator like RoboDK. Integrating the RoboDK C# API is a little bit time-consuming. Using our approach, the researcher can continue their research in a minimal period. And find adequate information here to integrate easily into their project. Paper Type: Simulation-based Research.

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Mathematics in the Digital Age: The Case of Simulation-Based Proofs

International Journal of Research in Undergraduate Mathematics Education ◽

10.1007/s40753-020-00125-6 ◽

2021 ◽

Author(s):

Moritz Lucius Sümmermann ◽

Daniel Sommerhoff ◽

Benjamin Rott

Keyword(s):

Dynamic Geometry ◽

User Interaction ◽

Alternative Form ◽

Sociomathematical Norms ◽

Mathematical Proofs ◽

Mathematical Simulations ◽

Simulation Based ◽

Actual Use ◽

Theory Yield ◽

Functions Of Proof

AbstractDigital transformation has made possible the implementation of environments in which mathematics can be experienced in interplay with the computer. Examples are dynamic geometry environments or interactive computational environments, for example GeoGebra or Jupyter Notebook, respectively. We argue that a new possibility to construct and experience proofs arises alongside this development, as it enables the construction of environments capable of not only showing predefined animations, but actually allowing user interaction with mathematical objects and in this way supporting the construction of proofs. We precisely define such environments and call them “mathematical simulations.” Following a theoretical dissection of possible user interaction with these mathematical simulations, we categorize them in relation to other environments supporting the construction of mathematical proofs along the dimensions of “interactivity” and “formality.” Furthermore, we give an analysis of the functions of proofs that can be satisfied by simulation-based proofs. Finally, we provide examples of simulation-based proofs in Ariadne, a mathematical simulation for topology. The results of the analysis show that simulation-based proofs can in theory yield most functions of traditional symbolic proofs, showing promise for the consideration of simulation-based proofs as an alternative form of proof, as well as their use in this regard in education as well as in research. While a theoretical analysis can provide arguments for the possible functions of proof, they can fulfil their actual use and, in particular, their acceptance is of course subject to the sociomathematical norms of the respective communities and will be decided in the future.

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