Inverse and Forward Kinematic Research Papers (original) (raw)

This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.

- by Sibel Yılmaz
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- Robotics, Genetic Algorithm, Dynamic Modeling, ICM
- by Abdullah Aamir Hayat
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- Robotics, Inverse Kinematics, Inverse and Forward Kinematic
- by Kritsada Nakthewan
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- Design, Manufacturing, Genetic Algorithm, Robotic
- by Luc Rolland
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- Genetic Algorithm, Parallel Robots, Dynamic Modeling, Parallel Robotics

A novel method is proposed for real-time solution of direct kinematics problem of Stewart platform (SP) using six measurements on three legs’ joints consisting of the rotations of three legs in two directions. After the application of the method on a laboratory sample SP, it is observed that the method is preferable to the conventional method that uses the length measurements of all six legs, in the grounds of industrial applicability. It is due to simpler implementation, less expense, easier maintenance, and stress-free assembly. The algorithms of both forward and inverse kinematics are fully derived based on geometric relationships between the platform states and the measurement data. The sensitivity to the measurement errors is analyzed theoretically and is applied through a computer simulation to several configurations of the sample SP which are uniformly distributed in the workspace. The variances of measurement errors for those configurations are compared between the conventional and proposed methods and it is observed that: the proposed method operates more accurate in position measurement especially in lateral movements. Additionally, the proposed method is not too sensitive to direction of movement and geometry of the SP.

- by amir sayadi
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- Hexapod Robot, Stewart platform, Inverse and Forward Kinematic

—In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bi-dimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.

- by Lorenzo Scalera and +1
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- Mechanical Engineering, Robotics, Mechatronics & Robotics, Mathematical Modelling

This paper extends the results from velocities and accelerations fields of rigid bodies motion to higher-order accelerations. Using the tensor calculus and the dual numbers algebra, a computing method for studying the higher order acceleration field properties is proposed in the case of the general motion. The vector and tensor invariants in the distribution of the n-th order acceleration field are highlighted. For the case of the spatial kinematics chains, an equation that allows the determination of the n-th order field accelerations are given, using a Brockett-like formulas specific to the dual algebra. The results are free of coordinate and in a closed form. In particular cases the properties for velocities, accelerations, jerks, and hyper-jerks fields are given. This approach uses the isomorphism between the Lie group of the rigid displacements 3 and the Lie group of the orthogonal dual tensors.

- by Daniel Condurache
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- Robotics, Mechatronics & Robotics, Kinematics, Kinematics of Machines

This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.

PowerPoint presentation about a SCARA robot. Discusses DH Notation and Inverse Kinematics. The original paper this presentation is based on a paper of the same title by Chia-Yu Hu, Chang-Ru Chen, Chin-Hsien Tseng, Andika Pramanta Yudha,... more

- by Aryeh Laks
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- Mechanical Engineering, Robotics, Mechatronics, Python

The correspondence between robotic manipulators and single gimbal Control Moment Gyro (CMG) systems was exploited to aid in the understanding and design of single gimbal CMG Steering laws. A test for null motion near a singular CMG configuration was derived which is able to distinguish between escapable and unescapable singular states. Detailed analysis of the Jacobian matrix null-space was performed and results were used to develop and test a variety of single gimbal CMG steering laws. Computer simulations showed that all existing singularity avoidance methods are unable to avoid Elliptic internal singularities. A new null motion algorithm using the Moore-Penrose pseudoinverse, however, was shown by simulation to avoid Elliptic type singularities under certain conditions. The SR-inverse, with appropriate null motion was proposed as a general approach to singularity avoidance, because of its ability to avoid singularities through limited introduction of torque error. Simulation results confirmed the superior performance of this method compared to the other available and proposed pseudoinverse-based Steering laws.

En este segundo proyecto de robótica, el enfoque se halla en un reto planteado que consiste en mover objetos haciendo uso del gripper de un brazo robótico con 6 grados de libertad (6 DoF). En este proyecto, al igual que con anteriores, haremos uso del enorme poder computacional que nos brinda el lenguaje R, el cual, si bien se encuentra orientado al manejo de data para fines estadísticos, nos permite extrapolar esta ventaja a la gestión de cálculos avanzados y llevándonos a un paso del procesamiento de Big Data; además de la multitud de librerías que posee, permitiendo a este lenguaje realizar gran cantidad de tareas.

- by Felix Daverio
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- Robotics, Mathematics, Inverse Kinematics, Inverse and Forward Kinematic

Robot kinematics, matrix description of robot kinematics
rotation matrix, displacement matrix

- by Pasha Allahverdiyev
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- Robotics, Mechatronics, Theory Of Mechanisms, Mechatronics & Robotics

Inverse kinematic calculation of detailed
biomechanical models of the human upper limb has been known
to be a daunting computational exercise. This paper presents a 9-
degree of freedom (DoF) human upper limb biomechanical model
with a novel algorithm to compute inverse kinematics. Inverse
kinematics was realized using a successive frame rotation
technique at joint level. The algorithm involves eliminating the
system error and the redundancy by determining each joint angle
one at a time. The proposed method starts from the base joint of
the kinematic model and works forwards, determining each joint
angle and the link orientation along the way. The proposed
inverse kinematic algorithm was verified using accurate 3
dimensional (3D) motion data obtained for a human participant
in an upper arm tennis serving scenario. Data were collected
from a UK county level right-handed professional tennis player,
using a six camera Qualisis motion capturing system at a rate of
240 Hz. The 9-DoF model enables detailed analysis of the motion
of the upper human limb including the synchronous motion of
sub-joints of the shoulder whilst the proposed inverse kinematic
algorithm provides mathematically stable and robust results.

- by Thrishantha Nanayakkara
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- Biomechanics, Tennis, Genetic Algorithm, Dynamic Modeling

Abstract: This paper extends the results from velocities and accelerations fields of rigid bodies motion to higher-order accelerations. Using the tensor calculus and the dual numbers algebra, a computing method for studying the higher order acceleration field properties is proposed in the case of the general motion. The vector and tensor invariants in the distribution of the n-th order acceleration field are highlighted. For the case of the spatial kinematics chains, an equation that allows the determination of the n-th order field accelerations are given, using a Brockett-like formulas specific to the dual algebra. The results are free of coordinate and in a closed form. In particular cases the properties for velocities, accelerations, jerks, and hyper-jerks fields are given. This approach uses the isomorphism between the Lie group of the rigid displacements

- by Daniel Condurache
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- Robotics, Physics, Mechatronics & Robotics, Kinematics

An analytical method and an associated computer program are developed for forward kinematics solution of a class of robotic manipulators in case of design the virtual link connection of automotive seat back, in which four joint variables are contained. For this case, it becomes possible to express all the other joint variables in terms of a selected one, and this reduces the forward kinematics problem to solving a non-linear scalar equation having the selected joint variable as the only unknown. The solution can be obtained by iterative methods and the remaining joint variables can easily be computed by using the solved joint variable. Since the method is manipulator dependent, the equations will be different for kinematical designs, and should be obtained analytically in the iterative way by the help of the MATLAB program. The developed method shows the reduction in the important factor which known as the backset and the contact time in both static and dynamic condition.