New Strategy to Approach the Inverse Kinematics Model for Manipulators with Rotational Joints

AbstractThis article presents a description and methodology for building a kinematics model for the formation of two-wheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.

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Trajectory Optimization and Simulation of Aerospace Robotic Arm

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.655-657.1057 ◽

2013 ◽

Vol 655-657 ◽

pp. 1057-1060

Author(s):

Li Jun Zong ◽

Guang Kuo Wang ◽

Xin Li ◽

Lei Wang ◽

Xiao Min Zhang ◽

...

Keyword(s):

Trajectory Optimization ◽

Inverse Kinematics ◽

Aerospace Engineering ◽

Robotic Arm ◽

Robotic Arms ◽

Kinematics Model ◽

Six Dof ◽

Optimization And Simulation ◽

Vehicle Activity

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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Inverse Kinematics Solution and Optimization of 6DOF Handling Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.635-637.1355 ◽

2014 ◽

Vol 635-637 ◽

pp. 1355-1359 ◽

Cited By ~ 1

Author(s):

Yan Wu ◽

Li Hui Cheng ◽

Guo Feng Fan ◽

Cai Dong Wang

Keyword(s):

Inverse Kinematics ◽

Solution Method ◽

Algebraic Method ◽

Inverse Solution ◽

Optimal Solutions ◽

Robot System ◽

Kinematics Model ◽

Feasible Solutions

The kinematics equation of the handling robot with six free degrees has multiple sets inverse solution, and the robot system only can choose one optimized solutions to drive the robot to work. The kinematics model of the robot is established by D-H method, and the inverse solution is derived by an algebraic method. The best flexibility principle was introduced to determine a set of optimal solutions from 8 sets of feasible solutions. The correctness of robot inverse solution method is verified through a set of calculation examples.

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Neural network-based construction of inverse kinematics model for serial redundant manipulators

Artificial Life and Robotics ◽

10.1007/s10015-019-00552-y ◽

2019 ◽

Vol 24 (4) ◽

pp. 487-493

Author(s):

Hideaki Takatani ◽

Nozomu Araki ◽

Takao Sato ◽

Yasuo Konishi

Keyword(s):

Neural Network ◽

Inverse Kinematics ◽

Redundant Manipulators ◽

Kinematics Model

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Analysis of the Kinematics of an Eight-Wheeled Mobile Platform

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.198.67 ◽

2013 ◽

Vol 198 ◽

pp. 67-72

Author(s):

Marek Stania

Keyword(s):

Inverse Kinematics ◽

Object Motion ◽

Forward Kinematics ◽

Contact Phenomenon ◽

Kinematics Model ◽

Inverse Kinematics Problem ◽

Transport Vehicle ◽

Forward And Inverse Kinematics ◽

Motion Parameters ◽

Simulation Results

This paper presents the modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved, additionally examples of simulation results representing the changes of individual motion parameters have been presented. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended while the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to verify correctness of the studied kinematics model. The presented simulation results point out compatibility of the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

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Research on the Kinematics of Line Heating Robot Based on SVM

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.668-669.361 ◽

2014 ◽

Vol 668-669 ◽

pp. 361-365

Author(s):

Yan Li ◽

You Li Chen

Keyword(s):

Inverse Kinematics ◽

Geometric Model ◽

Forward Kinematics ◽

Robot Kinematics ◽

Support Vector ◽

Line Heating ◽

Kinematics Model ◽

Heating Plate ◽

Kinematics Modeling ◽

Complex Trajectory

The paper mainly analyzed the robot kinematics of the line heating plate. In order to realize the moving of complex trajectory for the robot, a forward kinematics modeling and the simulation of inverse kinematics are carried out. Firstly, with the D-H modeling method, the line heating plate robot forward kinematics equations and the spatial geometric model of the manipulator are set up, then multi-input multi-output systems based on support vector machines algorithm is used to establish the inverse kinematics model for the robot . At last, the simulations of tracing complex trajectory with the inverse kinematics model are carried out, and the results show that the model derived by SVM can trace the trajectory very well.

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