Deriving Humanlike Arm Hand System Poses

2017 ◽  
Vol 9 (1) ◽  
Author(s):  
Minas Liarokapis ◽  
Charalampos P. Bechlioulis ◽  
Panagiotis K. Artemiadis ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Robot Motion ◽  
Robot Arm ◽  
Task Space ◽  
Optimization Scheme ◽  
Human Arm ◽  
Robot Hands ◽  
Minimal Design ◽  
Mapping Scheme

Robots are rapidly becoming part of our lives, coexisting, interacting, and collaborating with humans in dynamic and unstructured environments. Mapping of human to robot motion has become increasingly important, as human demonstrations are employed in order to “teach” robots how to execute tasks both efficiently and anthropomorphically. Previous mapping approaches utilized complex analytical or numerical methods for the computation of the robot inverse kinematics (IK), without considering the humanlikeness of robot motion. The scope of this work is to synthesize humanlike robot trajectories for robot arm-hand systems with arbitrary kinematics, formulating a constrained optimization scheme with minimal design complexity and specifications (only the robot forward kinematics (FK) are used). In so doing, we capture the actual human arm-hand kinematics, and we employ specific metrics of anthropomorphism, deriving humanlike poses and trajectories for various arm-hand systems (e.g., even for redundant or hyper-redundant robot arms and multifingered robot hands). The proposed mapping scheme exhibits the following characteristics: (1) it achieves an efficient execution of specific human-imposed goals in task-space, and (2) it optimizes anthropomorphism of robot poses, minimizing the structural dissimilarity/distance between the human and the robot arm-hand systems.

Design and Analysis of a Biomimetic Wire-Driven Robot Arm

2011 ◽  
Author(s):  
Zheng Li ◽  
Ruxu Du ◽  
Man Cheong Lei ◽  
Song Mei Yuan
Keyword(s):  
Inverse Kinematics ◽  
Geometric Analysis ◽  
Forward Kinematics ◽  
Positioning Error ◽  
Robot Arm ◽  
End Effector ◽  
Fixed Node

Inspired by the octopus and snakes, we designed and built a wire-driven serpentine robot arm. The robot arm is made of a number of rigid nodes connected by two sets of wires. The rigid nodes act as the backbone while the wires work as the muscle, which enables the 2 DOF bending. The forward kinematics is derived using D-H method, while the inverse kinematics and its workspace can be solved by geometric analysis. To validate the design, a prototype is built. It is found that the positioning error of the robot arm is generally less than 2%. The advantage of this robot arm is that with several nodes fixed the rest nodes are still controllable. The positioning error is smaller when the fixed node is closer to the end effector.

Modeling of Relative Damping in Defining the Equilibrium Point Trajectory for the Human Arm Movement Control

2008 ◽  
Author(s):  
Kai Chen ◽  
Richard A. Foulds ◽  
Sergei Adamovich ◽  
Qinyin Qiu ◽  
Katharine Swift
Keyword(s):  
Equilibrium Point ◽  
Inverse Kinematics ◽  
Movement Control ◽  
Arm Movement ◽  
Forward Kinematics ◽  
The Novel ◽  
Upper Arm ◽  
Shoulder Joints ◽  
Human Arm ◽  
Damping Model

Existing research suggests that limb motion can be represented as an Equilibrium Point (EP) trajectory in combination with a trajectory that reflects specified damping and stiffness at each joint. This model utilizes the concept of relative damping, an integral factor in defining the Equilibrium Point trajectory, to help maintain stability during the arm movement. By using commercialized Flock of Bird® (FOB) sensor, we can obtain experimental trajectories and angular information for human elbow and shoulder joints, as well as forearm and upper arm position during reaching in slow and fast movements. We replaced the complicated inverse kinematics computation of brain with our simple relative damping model, and then calculated the EP trajectories of the elbow and shoulder to use as inputs to our following forward kinematics model. The model generated trajectories which closely match the experimental data. The novel features of this model include the EP trajectory input generated by relative damping. Therefore, we conclude that multi-joint manipulations can be modeled by an appropriate EP trajectory along with relative damping.

Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2016 ◽  
Vol 136 (4) ◽  
pp. 254-262 ◽  
Author(s):  
Takahiro Yamazaki ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

2015 ◽  
Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Design Process ◽  
Inverse Kinematics ◽  
Gear Ratio ◽  
Forward Kinematics ◽  
Robot Design ◽  
Link Structure ◽  
Iterative Design ◽  
Quadruped Robots ◽  
Ongoing Effort

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2669-2688 ◽  
Author(s):  
Wenfu Xu ◽  
Lei Yan ◽  
Zonggao Mu ◽  
Zhiying Wang
Keyword(s):  
Inverse Kinematics ◽  
Reference Plane ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Singularity Problem ◽  
Human Arm ◽  
Angle Method ◽  
Self Motion ◽  
Dual Arm ◽  
Configuration Control

SUMMARYAn S-R-S (Spherical-Revolute-Spherical) redundant manipulator is similar to a human arm and is often used to perform dexterous tasks. To solve the inverse kinematics analytically, the arm-angle was usually used to parameterise the self-motion. However, the previous studies have had shortcomings; some methods cannot avoid algorithm singularity and some are unsuitable for configuration control because they use a temporary reference plane. In this paper, we propose a method of analytical inverse kinematics resolution based on dual arm-angle parameterisation. By making use of two orthogonal vectors to define two absolute reference planes, we obtain two arm angles that satisfy a specific condition. The algorithm singularity problem is avoided because there is always at least one arm angle to represent the redundancy. The dual arm angle method overcomes the shortcomings of traditional methods and retains the advantages of the arm angle. Another contribution of this paper is the derivation of the absolute reference attitude matrix, which is the key to the resolution of analytical inverse kinematics but has not been previously addressed. The simulation results for typical cases that include the algorithm singularity condition verified our method.

scholarly journals Reference trajectory tracking for a multi-DOF robot arm

2015 ◽  
Vol 25 (4) ◽  
pp. 513-527 ◽  
Author(s):  
Róbert Krasňanský ◽  
Peter Valach ◽  
Dávid Soós ◽  
Javad Zarbakhsh
Keyword(s):  
Data Exchange ◽  
Iterative Solution ◽  
Reference Trajectory ◽  
Robot Arm ◽  
Task Space ◽  
Joint Configuration ◽  
Matlab Simulink ◽  
Stepper Motors ◽  
Homogeneous Transformation Matrix ◽  
Kinematic Transformation

Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

2020 ◽  
Author(s):  
Michael John Chua ◽  
Yen-Chen Liu
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Kinematic Model ◽  
Mobile Manipulator ◽  
Main Task ◽  
Mobile Manipulators ◽  
Robot Arm ◽  
Task Space ◽  
End Effector ◽  
Mobile Base

Abstract This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

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