scholarly journals Calibration of Serial Manipulators: Theory and Applications

10.5772/4896 ◽  
2006 ◽  
Author(s):  
Irene Fassi ◽  
Giovanni Legnani ◽  
Diego Tosi ◽  
Alberto Omodei
Keyword(s):  
Serial Manipulators

scholarly journals Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

2021 ◽  
pp. 1-1
Author(s):  
Michael Fennel ◽  
Antonio Zea ◽  
Johannes Mangler ◽  
Arne Roennau ◽  
Uwe D. Hanebeck
Keyword(s):  
Haptic Rendering ◽  
Robot Programming ◽  
Serial Manipulators

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators

2021 ◽  
Vol 15 (2) ◽  
pp. 7948-7963
Author(s):  
Mohamed Aboelnasr ◽  
Hussein M Bahaa ◽  
Ossama Mokhiamar
Keyword(s):  
Monte Carlo ◽  
Numerical Methods ◽  
Curve Fitting ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Graphical Methods ◽  
Kinematic Singularity ◽  
Serial Manipulators ◽  
Serial Robots ◽  
Contour Plots

This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace.

Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 417-422 ◽  
Author(s):  
Eriny W. Azmy
Keyword(s):  
Exact Solution ◽  
Clifford Algebra ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Serial Manipulators

SUMMARYIn this paper, Clifford Algebra is used to model and facilitate solving the inverse kinematic problem for robots with only two consecutive parallel axes. It is shown that when a solution exists, it is usually the case that one of the angles of rotation can be arbitrarily chosen from a union of intervals. The remaining angles are then uniquely determined. Of course, there are cases when no solution exists, such as when the object is out of reach. But typically, when solutions exist, there are infinitely many sets of solutions.

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