A Jacobian-Based Algorithm for Planning Attitude Maneuvers Using Forward and Reverse Rotations

2008 ◽  
Vol 4 (1) ◽  
Author(s):  
Sung K. Koh ◽  
Gregory S. Chirikjian ◽  
G. K. Ananthasuresh
Keyword(s):  
Robot Manipulator ◽  
Optimal Path ◽  
Single Step ◽  
Coordinate Frame ◽  
Rotational Displacement ◽  
Closed Form Solutions ◽  
Inverse Kinematics Problem ◽  
Forward Kinematic ◽  
Jacobian Algorithm ◽  
Multiple Step

Algorithms for planning quasistatic attitude maneuvers based on the Jacobian of the forward kinematic mapping of fully-reversed (FR) sequences of rotations are proposed in this paper. An FR sequence of rotations is a series of finite rotations that consists of initial rotations about the axes of a body-fixed coordinate frame and subsequent rotations that undo these initial rotations. Unlike the Jacobian of conventional systems such as a robot manipulator, the Jacobian of the system manipulated through FR rotations is a null matrix at the identity, which leads to a total breakdown of the traditional Jacobian formulation. Therefore, the Jacobian algorithm is reformulated and implemented so as to synthesize an FR sequence for a desired rotational displacement. The Jacobian-based algorithm presented in this paper identifies particular six-rotation FR sequences that synthesize desired orientations. We developed the single-step and the multiple-step Jacobian methods to accomplish a given task using six-rotation FR sequences. The single-step Jacobian method identifies a specific FR sequence for a given desired orientation and the multiple-step Jacobian algorithm synthesizes physically feasible FR rotations on an optimal path. A comparison with existing algorithms verifies the fast convergence ability of the Jacobian-based algorithm. Unlike closed-form solutions to the inverse kinematics problem, the Jacobian-based algorithm determines the most efficient FR sequence that yields a desired rotational displacement through a simple and inexpensive numerical calculation. The procedure presented here is useful for those motion planning problems wherein the Jacobian is singular or null.

A Jacobian-Based Algorithm for the Attitude Control of a Rigid Body Undergoing Fully-Reversed Sequences of Rotations

2007 ◽  
Author(s):  
Sung K. Koh ◽  
Gregory S. Chirikjian ◽  
G. K. Ananthasuresh
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Robot Manipulator ◽  
Convergence Property ◽  
Optimal Path ◽  
Single Step ◽  
Control Algorithms ◽  
Conventional Systems ◽  
Null Matrix ◽  
Multiple Step

Jacobian-based control algorithms for the attitude control of a rigid body undergoing a series of forward and reverse rotations are proposed in this paper. Unlike the Jacobian of conventional systems such as a robot manipulator, the Jacobian of the system manipulated through FR rotations is singular as well as a null matrix at the identity that makes the conventional Jacobian formulation break down. In order to handle the singularities involved in FR rotations, the Jacobian algorithm is reformulated and implemented so as to synthesize the FR rotation for a desired orientation change. We introduce the single-step and multiple-step Jacobian methods in this paper. The single-step Jacobian method synthesizes a specific FR rotation that enables the rigid body to reach a given desired orientation through a single step. The multiple-step Jacobian method synthesizes physically feasible FR rotations on an incremental optimal path to a desired orientation. A comparison with existing control algorithms for FR motions verifies the fast convergence property of the Jacobian-based algorithm and the accuracy of the solutions.

Inverse Kinematics Analysis of 5-DOF Robot Manipulators Based on Virtual Joint Method

2011 ◽  
Vol 143-144 ◽  
pp. 265-268
Author(s):  
Zhi Zhong Liu ◽  
Hong Yi Liu ◽  
Zhong Luo
Keyword(s):  
Iterative Method ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematics Analysis ◽  
One Dimensional ◽  
Closed Form Solutions ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Joint Method

To solve the inverse kinematics problem of a robot manipulator without closed form solutions, one-dimensional iterative method is very useful. However, for a 5-DOF robot manipulator, because of the uncontrolable and uncertain orientation vectors, it's difficult to analytically express all joint variables by one of them, therefore one-dimensional iterative method can not be directedly used. By adding an appropriate virtual joint to it, a 5-DOF manipulator can be changed into a 6-DOF one so that the uncertain orientation vectors can be pre-given, and the difficulty is solved. To illustrate this virtual joint method a 5-DOF serial robot manipulator with prismatic arm joint and offset wrist is discussed in this paper as an example.

THE PREDICTIVE CONTENT OF DISAGGREGATED NORMAL INCOME: An Empirical Study in the JSX

2003 ◽  
Vol 5 (3) ◽  
pp. 363 ◽  
Author(s):  
Slamet Sugiri
Keyword(s):  
Linear Regression ◽  
Regression Models ◽  
Stock Exchange ◽  
Manufacturing Firms ◽  
Single Step ◽  
Model Parameters ◽  
Linear Regression Models ◽  
Operating Income ◽  
Predictive Content ◽  
Multiple Step

The main objective of this study is to examine a hypothesis that the predictive content of normal income disaggregated into operating income and nonoperating income outperforms that of aggregated normal income in predicting future cash flow. To test the hypothesis, linear regression models are developed. The model parameters are estimated based on fifty-five manufacturing firms listed in the Jakarta Stock Exchange (JSX) up to the end of 1997.This study finds that empirical evidence supports the hypothesis. This evidence supports arguments that, in reporting income from continuing operations, multiple-step approach is preferred to single-step one.

The effect of decationation of hydroxylated HNaY zeolites on their interaction with ethylene and propylene. hydrogen complexes, oligomeration and isotope exchange

1980 ◽  
Vol 45 (11) ◽  
pp. 3101-3115 ◽  
Author(s):  
Ludmila Kubelková ◽  
Jana Nováková ◽  
Zdeněk Dolejšek ◽  
Pavel Jírů
Keyword(s):  
Isotope Exchange ◽  
Decisive Role ◽  
Single Step ◽  
Hydroxyl Groups ◽  
Isotope Exchange Reaction ◽  
Factors Affecting ◽  
Step Mechanism ◽  
Formed Hydrogen ◽  
Lower Basicity ◽  
Multiple Step

The effect of decationation on the interaction of propylene and ethylene with the hydroxylated forms of HNaY zeolites has been studied. The compounds formed in the zeolite cavities were studied using their infrared spectra, the composition of the gaseous phase was followed by mass spectrometry. The results showed that among factors affecting the interaction with propylene properties of hydroxyl groups play the decisive role. With the increasing decationation of the zeolite the strength of the OH bond in the hydrogen complex of the large-cavity hydroxyls with propylene decreased and the rate of propylene oligomeration at 310 K as well as the isotope exchange rate of propylene-d6 with the zeolite hydroxyls at 570 K increased. The propylene isotope exchange reaction proceeded by the multiple-step mechanism. In the case of ethylene only the physical sorption with a non-specific character was observed at 310 K. The adsorbed amount increased with the increasing content of Na+ ions in the zeolite (with the decreasing decationation). A part of the adsorbed molecules formed hydrogen complexes with hydroxyls of large cavities. The observed lower weakening of the OH bond was in agreement with the lower basicity of ethylene if compared with propylene. The isotope exchange of ethylene-d4 with the zeolite hydroxyls proceeded by a single-step mechanism, it had an autocatalytic character and its rate was 70 times lower than that of the isotope exchange of propylene-d6 with OH.

An optimal trajectory planning method for path tracking of industrial robots

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 502-520 ◽  
Author(s):  
Xianxi Luo ◽  
Shuhui Li ◽  
Shubo Liu ◽  
Guoquan Liu
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Path ◽  
Path Tracking ◽  
Industrial Robots ◽  
Planning Method ◽  
Coordinate Frame ◽  
Optimization Approach ◽  
Cartesian Coordinate ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents an optimal trajectory planning method for industrial robots. The paper specially focuses on the applications of path tracking. The problem is to plan the trajectory with a specified geometric path, while allowing the position and orientation of the path to be arbitrarily selected within the specific ranges. The special contributions of the paper include (1) an optimal path tracking formulation focusing on the least time and energy consumption without violating the kinematic constraints, (2) a special mechanism to discretize a prescribed path integration for segment interpolation to fulfill the optimization requirements of a task with its constraints, (3) a novel genetic algorithm (GA) optimization approach that transforms a target path to be tracked as a curve with optimal translation and orientation with respect to the world Cartesian coordinate frame, (4) an integration of the interval analysis, piecewise planning and GA algorithm to overcome the challenges for solving the special trajectory planning and path tracking optimization problem. Simulation study shows that it is an insufficient condition to define a trajectory just based on the consideration that each point on the trajectory should be reachable. Simulation results also demonstrate that the optimal trajectory for a path tracking problem can be obtained effectively and efficiently using the proposed method. The proposed method has the properties of broad adaptability, high feasibility and capability to achieve global optimization.

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 A novel solution of inverse kinematic for 6R robot manipulator with offset joint based on screw theory

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092564
Author(s):  
Zhiwei Liao ◽  
Gedong Jiang ◽  
Fei Zhao ◽  
Xuesong Mei ◽  
Yang Yue
Keyword(s):  
Joint Angle ◽  
Screw Theory ◽  
Robot Manipulator ◽  
Inverse Kinematic ◽  
Transformation Matrix ◽  
Inverse Kinematic Problem ◽  
End Effector ◽  
Closed Form Solutions ◽  
Specific Configuration ◽  
Kinematic Approach

This article proposes a novel inverse kinematic approach with translation transformation matrix based on screw theory to solve the inverse kinematic problem for 6R robot manipulator with offset joint. The translation transformation matrix is introduced to convert the 6R robot manipulator with offset joint to a new configuration with intersecting axes, and the mapping relationship from the end effector to the joint angle is established along with the Paden–Kahan subproblems. The eight closed solutions of the specific configuration are deduced, which automatically eliminate the singularity solutions. Moreover, the precision and efficiency of the proposed method are verified through a numerical example. Unlike other approaches, the presented algorithm not only inherits the superior accuracy of the other geometric approaches but also exhibits an outperform efficiency. Finally, the method is generalized to other 6R robots, which has closed-form solutions to further verify its versatility. The presented study provides some basis for further investigations, such as trajectory planning and motion control, which provides a new tool on the analysis and application of this kind of robot manipulator.

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