Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Brayden DeBoon ◽  
Ryan C. A. Foley ◽  
Scott Nokleby ◽  
Nicholas J. La Delfa ◽  
Carlos Rossa
Keyword(s):  
Upper Limb ◽  
Evaluation Method ◽  
Kinematic Model ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Kinematic Modeling ◽  
Joint Angles ◽  
Rehabilitative Treatment ◽  
Rehabilitation Devices

Abstract The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

Direct Kinematic Modeling of the Upper Limb During Trunk-Assisted Reaching

2011 ◽  
Vol 27 (3) ◽  
pp. 272-277 ◽  
Author(s):  
Sylvain Hanneton ◽  
Svetlana Dedobbeler ◽  
Thomas Hoellinger ◽  
Agnès Roby-Brami
Keyword(s):  
Upper Limb ◽  
Computer Animation ◽  
Healthy Subjects ◽  
Kinematic Model ◽  
Biomechanical Model ◽  
Prediction Errors ◽  
Anatomical Landmarks ◽  
Kinematic Modeling ◽  
Joint Angles ◽  
Kinematic Method

The study proposes a rigid-body biomechanical model of the trunk and whole upper limb including scapula and the test of this model with a kinematic method using a six-dimensional (6-D) electromagnetic motion capture (mocap) device. Large unconstrained natural trunk-assisted reaching movements were recorded in 7 healthy subjects. The 3-D positions of anatomical landmarks were measured and then compared to their estimation given by the biomechanical chain fed with joint angles (the direct kinematics). Thus, the prediction errors was attributed to the different joints and to the different simplifications introduced in the model. Large (approx. 4 cm) end-point prediction errors at the level of the hand were reduced (to approx. 2 cm) if translations of the scapula were taken into account. As a whole, the 6-D mocap seems to give accurate results, except for pronosupination. The direct kinematic model could be used as a virtual mannequin for other applications, such as computer animation or clinical and ergonomical evaluations.

Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

2014 ◽  
Vol 19 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Transcendental Functions ◽  
Simulation Results

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

scholarly journals Kinematics of Serial Manipulators

2020 ◽  
Author(s):  
Ivan Virgala ◽  
Michal Kelemen ◽  
Erik Prada
Keyword(s):  
Rigid Body ◽  
Numerical Solutions ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Body Motion ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Open Chain ◽  
Serial Manipulators ◽  
Serial Robot

This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.

Optimal Joint Space Control Design of a Hydraulic Stewart Manipulator

2011 ◽  
Vol 58-60 ◽  
pp. 2438-2441
Author(s):  
Zhi Yong Qu ◽  
Zheng Mao Ye
Keyword(s):  
Closed Loop ◽  
Kinematic Model ◽  
Optimization Method ◽  
Joint Space ◽  
Phase Control ◽  
Inverse Kinematic ◽  
Iteration Algorithm ◽  
Second Phase ◽  
Closed Loop Control ◽  
Loop Control

This paper presents an algorithm to develop a mission-based optimal joint space control for a Stewart manipulator. The proposed algorithm consists of two optimization phases. The first phase seeks an inverse kinematic model and controller for the closed loop control of a Stewart manipulator using a feedback value. The second phase optimally tunes the controller called amplitude phase control (apc) in order to meet special mission requirements. Iteration algorithm is used in this phase as the optimization method. The proposed amplitude phase control optimal joint space control shows the capability to reduce the error in tracking the sin signals.

scholarly journals Robot arm trajectory planning study for a table tennis robot

2021 ◽  
Vol 260 ◽  
pp. 03009
Author(s):  
Bo Zhang ◽  
Bingqiang Chen ◽  
Yansong Deng
Keyword(s):  
Success Rate ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Joint Space ◽  
Degree Of Freedom ◽  
Planning Method ◽  
Robot Arm ◽  
Table Tennis ◽  
Planning Study ◽  
Physical Tests

The 4 degree of freedom robot arm of a table tennis robot has a variety of trajectories. In order to improve the response and the success rate of the shots, we used the joint space trajectory planning method to establish a kinematic model with the robot arm joints as variables, and by combining it with the robot arm kinematics, we obtained the relevant parameters for each joint of the robot arm. Simulation tests and physical tests were carried out to obtain a more accurate trajectory of the robot arm.

Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery

2017 ◽  
Vol 232 (1) ◽  
pp. 12-23 ◽  
Author(s):  
Amanpreet Singh ◽  
Ekta Singla ◽  
Sanjeev Soni ◽  
Ashish Singla
Keyword(s):  
Closed Loop ◽  
Direct Method ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Parameter Method ◽  
Kinematic Modeling ◽  
Hybrid Manipulator ◽  
Prime Objective ◽  
Joint Velocity ◽  
Serial Chains

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research–Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

scholarly journals Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 75
Author(s):  
Yunwang Li ◽  
Shirong Ge ◽  
Sumei Dai ◽  
Lala Zhao ◽  
Xucong Yan ◽  
...  
Keyword(s):  
Large Scale ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Combined System ◽  
Wheeled Mobile Robots ◽  
Physical Prototype ◽  
Kinematic Models ◽  
Simulated Motion ◽  
Multiple Robot

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

scholarly journals A Cross-Platform Web3D Monitoring System of the Three-Machine Equipment in a Fully Mechanized Coalface Based on the Skeleton Model and Sensor Data

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhengxiong Lu ◽  
Wei Guo ◽  
Shuanfeng Zhao ◽  
Chuanwei Zhang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Monitoring System ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Sensor Data ◽  
Kinematic Modeling ◽  
Hydraulic Support ◽  
Skeleton Model ◽  
Motion Data ◽  
Mesh Model ◽  
Cross Platform

A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

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