An overview of innovative methods for the robotic inverse kinematic problem solution

1999 ◽  
Author(s):  
Rodolfo Faglia
Keyword(s):  
Inverse Kinematic ◽  
Problem Solution ◽  
Inverse Kinematic Problem ◽  
Innovative Methods

scholarly journals ANALYTICAL AND NUMERICAL METHODS OF INVERSE KINEMATIC PROBLEM SOLUTION FOR DELTA ROBOT

2017 ◽  
Vol 21 (5) ◽  
pp. 87-96
Author(s):  
Dmitriy S. Koltygin ◽  
◽  
Ilya A. Sedelnikov ◽  
Nikita V. Petukhov ◽  
◽  
...  
Keyword(s):  
Numerical Methods ◽  
Inverse Kinematic ◽  
Problem Solution ◽  
Inverse Kinematic Problem ◽  
Delta Robot

scholarly journals Using a Cable-Driven Parallel Robot with Applications in 3D Concrete Printing

2021 ◽  
Vol 11 (2) ◽  
pp. 563
Author(s):  
Tuong Phuoc Tho ◽  
Nguyen Truong Thinh
Keyword(s):  
3D Printing ◽  
Large Scale ◽  
Trust Region ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Programming Algorithm ◽  
Construction Time ◽  
Inverse Kinematic Problem ◽  
Robot Configuration ◽  
Printing Method

In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1991 ◽  
Author(s):  
Clément M. Gosselin ◽  
Ammar Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

Abstract This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations — and possibly for a lift-off and a set-down configuration — and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

DEVELOPMENT OF INTELLECTUAL CONTROL ALGORITHMS FOR PLASTER MECHATRON COMPLEXES FOR AGRICULTURAL ENTERPRISES

2020 ◽  
Author(s):  
O.L. Cvetkova ◽  
◽  
A.R. Ajdinyan
Keyword(s):  
Low Cost ◽  
Inverse Kinematic ◽  
Control Algorithms ◽  
High Quality ◽  
Inverse Kinematic Problem ◽  
Intelligent Algorithms ◽  
Agricultural Enterprises ◽  
Computational Costs ◽  
Control Actions ◽  
Intellectual Control

Agricultural enterprises are interested in high-quality and low-cost plastering of technological and warehouse premises. It is proposed to solve the problem using mechatronic complexes intended for plastering surfaces characterized by different features of irregularities. The work considers intelligent algorithms for controlling the actions of a stucco robot based on the use of an artificial neural network. Intelligent algorithms will provide the formation of control actions for the robot when applying the mortar to the surface, with a rough leveling of the mortar layer, will allow solving the inverse kinematic problem of position for the plastering robot with less computational costs.

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

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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