Simulation of Inverse Kinetic Solution for Artificial Human Arm using Hybrid Algorithm in Virtual Reality (original) (raw)
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This work presents a novel simulation methodology applied to a human arm. It is aimed to allow the robotic system to perform complex movement operations of human arm. The human arm is represented by using virtual reality (VR). The work includes mathematical modeling of the direct kinematics ,inverse kinematic and the dynamics of the human arm .The model permits direct forward dynamics simulation, which accurately predicts hand position, also presents a solution to the inverse problem of determining set of joints angle to achieve a given position or motion. The method is implemented in the 3D space and uses the Simulink/ MATLAB Ver.2009a approach. This methodology can be used with different robots to test the behavior and control laws.
Simulation of Kinematic and Dynamic for Artificial Human Arm
This work presents a simulation of artificial human arm. It is aimed to allow the robotic system to perform motion of human arm. The work includes mathematical modeling of the kinematics and the dynamics of the human arm .The model permits direct forward dynamics simulation, which accurately predicts hand position, also presents a solution to the inverse problem of determining set of joints angle to achieve a given position or motion. This paper tries to explore the potential of using soft computing methodologies in control of plant (human arm). It presents a PD tuning method that uses a Particle Swarm Optimization (PSO) as a main gain of PD tuning using multi objective to improve the time response of system such settling time and overshoot MATLAB Ver.2009a software is used to show the efficiency of the proposed tuning rule. Simulation results demonstrate that better performance can be achieved with this method.
Analytical solution for anthropomorphic limbs model, (IK of human arm
2009
This paper considers a proposed algorithm for computation of the inverse kinematic(IK) model of the human arm. This algorithm introduces a new IK method suitable for reaching tasks performed by autonomous and interactive virtual humans. The basic problem is to pose the character in such a way that arm hand reaches the target ( position and orientation ) in space. The algorithm is composed of two phases. The first phase is the limitation of real task which concerning the human arm movement and the second phase presents the analytical solution for inverse kinematic problem (IKP) by trigonometric relations and algebraic solution according to limitation of joints. This algorithm is simulated by using MATLAB Ver. R2008a, and satisfied results are obtained, that explains the ability of the proposed algorithm to solve the inverse kinematic problem for real human arm.
IJERT-Advanced Step in Humanoid Robots Simulation
International Journal of Engineering Research and Technology (IJERT), 2014
https://www.ijert.org/advanced-step-in-humanoid-robots-simulation https://www.ijert.org/research/advanced-step-in-humanoid-robots-simulation-IJERTV3IS031704.pdf In the field of humanoid robots a virtual and reality simulation it is the technique by which we can easily developed and creates the virtual environment for the motion and control dynamics to get the real and human like motions. Now in this paper we design a virtual multibody humanoid robots simulation and controller for mobility in the geometry of kinematics. Several distinct feature or element of a tests in simulator to fetch out the appropriate solutions in the complex motions of manipulator regarding auto balancing for the perfect inherent capacity.
2013
This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLAB codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLAB, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate ...
Virtual Robot Arm Control Model
Proceedings of the IPSL Technical Sessions, 20 (2004) 7-14
A Six-axis Virtual Robot arm (SVR) was designed with adjustable kinematic parameters to mimic a 6-axis articulate robotic manipulator with revolute joints having 6 degrees of freedom. The screen based interface was complemented by a custom designed external controller which was connected through the parallel port of the PC. The interface and the main mathematical engine that deals with rigid body transformations has been implemented with Borland Delphi 6, while the external controller was based on the 10-bit A/D channels of the PIC18F458 microcontroller, programmed using the MPASM assembler by Microchip Inc.
Human-like motion generation for a virtual manikin
An algorithm for both the human-like motion generation and the joint torques computation for a virtual manikin is addressed in this paper. This goal has been achieved using some techniques derived from robotics. In particular, the so-called augmented Jacobian has been used to solve the inverse kinematics problem with a single closed loop inverse kinematics algorithm. Furthermore, a position control for the center of mass of the kinematic chain, and for its projection on the support plane (Center of Pressure), has been implemented. Thus, the inverse kinematics can be solved taking into account the static balance of the manikin. Moreover, the proposed algorithm allows simulating quite complex tasks, which involve the motion of the whole manikin, by means of only few task-related control points. The resulting movements are quite natural even for complex tasks. Finally, the joint torques can be computed thanks to the kineto-statics duality: the results are in accordance with biomechanical analyses.