Inverse Kinematic Control Algorithms With a Reduced Coriolis Component for Use in Motion Simulators

1995 ◽  
Vol 117 (4) ◽  
pp. 570-577 ◽  
Author(s):  
D. W. Repperger
Keyword(s):  
Human Subjects ◽  
Inverse Kinematic ◽  
Moving Frame ◽  
Coordinate Frame ◽  
Linear Quadratic ◽  
End Effector ◽  
Quadratic Optimization Problem ◽  
Motion Simulator ◽  
Simple Feedback ◽  
Kinematic Solution

A motion simulator is studied within the framework of a multilink robotic manipulator and a class of inverse kinematic algorithms are investigated. Human subjects, for this motion simulator, sit at the end effector and are subjected to all relative motions of the respective links. From the perspective of the subject, one undesired artifact of this simulation occurs when Coriolis accelerations are induced at the end effector as a consequence of a coordinate frame moving relative to another moving frame. This paper adapts the inverse kinematic solution to those which have a minimum Coriolis component and can be used to control the motion simulator. A simple feedback control law is derived which, it turns out, has an additional interpretation as the solution of a related linear quadratic optimization problem.

Polynomial Inverse Kinematic Solution of the Jaco Robot

2014 ◽  
Author(s):  
Clément Gosselin ◽  
Hanwei Liu
Keyword(s):  
Polynomial Solution ◽  
Solution Process ◽  
Inverse Kinematic ◽  
Degree Polynomial ◽  
Inverse Kinematic Problem ◽  
End Effector ◽  
Numerical Examples ◽  
Position And Orientation ◽  
Kinematic Solution

This article presents a polynomial solution to the inverse kinematic problem of the 6R serial Jaco robot. The solution is specifically tailored to the Jaco robot, which is not wrist-partitioned. The derivation of the univariate 16-degree polynomial is presented, starting from the direct kinematic equations providing the position and orientation of the end-effector as a function of the joint variables. Upon calculation of the roots of the polynomial, all joint variables are obtained by backsubstitution, leading to a unique set of joint variables for each of the roots. Also, it is shown that for certain configurations, the 16-degree polynomial contains only terms of even powers while all terms are not zero in general. Two numerical examples are given to demonstrate the effectiveness of the solution process.

Complex Robotic Inverse Kinematic Solutions

1993 ◽  
Vol 115 (3) ◽  
pp. 509-514 ◽  
Author(s):  
E. D. Pohl ◽  
H. Lipkin
Keyword(s):  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Complex Numbers ◽  
Error Minimization ◽  
Important Criterion ◽  
Real Numbers ◽  
End Effector ◽  
Industrial Manipulators ◽  
Complex Joint ◽  
Kinematic Solution

A new method exploiting complex numbers in the inverse kinematic solution of serial robotic manipulators is presented. If a prescribed end effector location is outside of the manipulator workspace, complex joint values result. While they cannot be implemented physically, they may be mapped to real numbers. The result approximates the prescribed location. For many industrial manipulators, mapped solutions may be explained using spherical and planar dyads. An important criterion characterizes error minimization properties, and is illustrated for a 3R regional robot.

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

scholarly journals A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices

2016 ◽  
Vol 5 (3) ◽  
pp. 213
Author(s):  
Mohammad Reza Elhami ◽  
Iman Dashti
Keyword(s):  
Robot Manipulator ◽  
Robot Kinematics ◽  
Coordinate Frame ◽  
End Effector ◽  
New Approach ◽  
Transformation Matrices ◽  
The World ◽  
Convenient Approach ◽  
Position And Orientation ◽  
Relative Transformation

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.

scholarly journals Scanning electron microscope fine tuning using four-bar piezoelectric actuated mechanism

2018 ◽  
Vol 69 (1) ◽  
pp. 24-31
Author(s):  
Khaled S. Hatamleh ◽  
Qais A. Khasawneh ◽  
Adnan Al-Ghasem ◽  
Mohammad A. Jaradat ◽  
Laith Sawaqed ◽  
...  
Keyword(s):  
Electron Microscope ◽  
Scanning Electron Microscope ◽  
Inverse Kinematic ◽  
Fine Tuning ◽  
Electron Microscopes ◽  
Tuning Strategy ◽  
Scanning Electron Microscopes ◽  
Fine Tune ◽  
Kinematic Solution ◽  
Scanning Electron

Abstract Scanning Electron Microscopes are extensively used for accurate micro/nano images exploring. Several strategies have been proposed to fine tune those microscopes in the past few years. This work presents a new fine tuning strategy of a scanning electron microscope sample table using four bar piezoelectric actuated mechanisms. The introduced paper presents an algorithm to find all possible inverse kinematics solutions of the proposed mechanism. In addition, another algorithm is presented to search for the optimal inverse kinematic solution. Both algorithms are used simultaneously by means of a simulation study to fine tune a scanning electron microscope sample table through a pre-specified circular or linear path of motion. Results of the study shows that, proposed algorithms were able to minimize the power required to drive the piezoelectric actuated mechanism by a ratio of 97.5% for all simulated paths of motion when compared to general non-optimized solution.

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