scholarly journals Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jie Cai ◽  
Jinlian Deng ◽  
Wei Zhang ◽  
Weisheng Zhao
Keyword(s):  
Robot Manipulator ◽  
Algebraic Method ◽  
Modeling Method ◽  
Inverse Solution ◽  
Geometric Method ◽  
Experimental Simulation ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Joint Variable

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

scholarly journals Cartesian space robot manipulator clamping movement in ROS simulation and experiment

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Longtao Mu ◽  
Yunfei Zhou ◽  
Tiebiao Zhao
Keyword(s):  
Motion Planning ◽  
Position Control ◽  
Robot Manipulator ◽  
Robotic Arm ◽  
Robot Motion ◽  
Robot Arm ◽  
Operation System ◽  
Model File ◽  
Simulation And Experiment ◽  
Tool Centre Point

Abstract This paper studies the robot arm sorting position control based on robot operation system (ROS), which works depending on the characteristics of the robot arm sorting operation using the top method, to automate the sorting operation and improve the work efficiency of workpiece sorting. Through the ROS MoveIt! module, the sorting pose and movement path of the robotic arm are planned, the inverse kinematics of the sorting robotic arm is solved, and the movement pose characteristics of the sorting robotic arm are analysed. The robot arm model was created using Solidworks software, and the URDF model file of the robot arm was exported through the sw2urdf plugin conversion tool, and the parameters were configured. Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected. The robot motion planning analysis and sorting manipulator drive UR5 manipulator. The results show that the sorting pose and motion trajectory of the robot arm are determined by controlling the sorting pose of the sorting robot arm, and the maximum radius value of the tool centre point (TCP) rotation of the robot arm and the position of the workpiece are obtained. This method can improve the success rate of industrial sorting robots in grabbing objects. This analysis is of great significance to the research of robots’ autonomous object grabbing.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

Development of an Affordable 7-DOF Robotic Arm for Education in Mechanisms and Robotics

2016 ◽  
Author(s):  
Stylianos Kavousanakis ◽  
Anthony H. Jones ◽  
Stefan Kenway ◽  
Guowu Wei
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Structure Design ◽  
Robotic Arm ◽  
Robot Arm ◽  
Level Control ◽  
Robotic Arms ◽  
Postgraduate Level ◽  
Automation And Control ◽  
And Robotics

Although there are a number of commercialized 7-DoF robotic arms that are suitable for industrial applications and project research use, the high cost of such robotic arms has impeded the hands-on sessions constructed in the undergraduate and postgraduate level courses/modules for the purpose of studying, understanding and investigating of the redundant 7-DoF robotic arm for the education in mechanisms and robotics. In order to provide an affordable solution, this paper presents the development of a low-cost module-based 7-DoF robotic arm. Structure design of the robot arm is introduced and its kinematics is formulated based on product of exponentials representation. By using 3D printing system, the proposed robotic arm is then fabricated and assembled, and integrated with servo motors and Arduino low-level control kits, a functionally feasible prototype is developed. Tests are subsequently carried out so as to check the performance of the proposed robotic arm and to identify errors and defects for improving and optimizing the design. Integrating with MATLAB Robotic Toolbox and Arduino low-cost control platform, the robotic arm presented in this paper can be used for the purpose of mechanisms and robotics education in the courses such as robotic kinematics, automation and control, and robotic programming and planning.

scholarly journals Implementasi Persamaan Kinematik Maju Pada Robot Manipulator

2014 ◽  
Vol 6 (1) ◽  
pp. 66-75
Author(s):  
Herizon Herizon ◽  
Ade Diana
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Angular Position ◽  
Robotic Arm ◽  
Equation Modeling ◽  
Forward Kinematics ◽  
Robot Arm ◽  
Kinematics Modeling ◽  
Trigonometric Equations ◽  
Manipulator Control

Robot is one technology that is being developed at this time. Robot manipulators are widely used in industry, especially robotic arm that has a certain degree of freedom. The problems that occurred in the robot arm is the accuracy in determining the position of the object to be moved. This study aims to apply the method forward kinematics equation modeling on the movement of the robot manipulator in particular robot arm 3 degrees of freedom (DOF) equipped with a gripper which serves to clamp and move the object. The method used in this study is an experimental method in phases: the design of hardware and software, interconnect hardware and software in the system of movement of the robot. Joints actuator using servo motors. Manipulator control system is used to adjust the angular position of each joint with CodeVisionAVR programming language that is sent in parallel to the motor driver so as to produce pulses to move the bike. Forward kinematics equation modeling using trigonometric equations. Forward kinematics modeling applications on the movement of the robot arm that is used to provide information about the value of the angle and the coordinates of each joint. Results of testing the hardware controlled by software to show the error (error) the movement of each joint is varied by between 0.06% - 2.567%.

scholarly journals The Inverse Solution Algorithm and Trajectory Error Analysis of Robotic Arm Based on MQACA-RBF Network

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Xu Cheng ◽  
Ming Zhao
Keyword(s):  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Solution Algorithm ◽  
Inverse Solution ◽  
Ant Colony ◽  
Robotic Arm ◽  
Robot Arm ◽  
Rbf Neural Networks ◽  
Rbf Network ◽  
Simulation Results

In order to improve the position accuracy and trajectory accuracy of a 6R robotic arm, a robot arm inverse solution algorithm based on the MQACA- (improved quantum ant colony-) RBF network is proposed. This algorithm establishes the prediction model through the neural network and uses the quantum ant colony algorithm to optimize the output weight. In order to solve the problem that the quantum ant colony algorithm has low convergence precision and easy to fall into the local optimal solution in the inverse solution algorithm of the multifreedom robotic arm, improved measures such as 2-opt local optimization and maximum minimum pheromone limit and variation are adopted. By comparing the simulation results of the 6R robotic arm simulation results and the simulation results based on ACA, QACA, and RBF neural networks on the position and motion trajectory of the space point, the advantages in precision are obvious. This proves the feasibility and effectiveness of the scheme.

Accessible Region and Synthesis of Robot Arms

1981 ◽  
Vol 103 (4) ◽  
pp. 803-811 ◽  
Author(s):  
Y. C. Tsai ◽  
A. H. Soni
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Cam Mechanism ◽  
Design Charts ◽  
Accessible Region ◽  
Special Cases ◽  
Cam Follower ◽  
Synthesis Procedure

The present paper deals with the study of determining accessible region for two and three-link robotic arms with pin-joints. Based on the derivation of the loci-curves traced by a two-link robotic arm, design charts are developed. Such design charts are utilized in determining the accessible regions of a three-link robotic arm. Following the analysis of the accessible regions of two and three-link robotic arms, the paper presents a synthesis procedure to synthesize two and three-link robotic arms. Given a set of end-positions of a two or three-link robot arm, the proposed synthesis procedure will yield the dimensions and the location of the robot arm which will enclose within its accessible region the design points. The same synthesis procedure is proposed to trace a specific planar point-path. The present paper further examines the potential application of the synthesis procedure of two and three-link robotic arms in synthesizing a closed-loop mechanism for point-path generation. The two-link robotic arm is examined for the case where the end positions lie on a fixed circle. This case leads to the synthesis of a four-bar mechanism for a special point-path curve. The synthesis procedure may be extended from the four-bar synthesis to a cam-follower (non-circular-cam) system where the follower is the two link robotic arm. A further extension of this procedure is demonstrated in synthesizing analytically the dual-cam mechanisms derived from the stephenson six-link mechanism. The present investigation examines all three possible cases of dual-cam mechanisms. For special cases, it is demonstrated that such dual-cam mechanism may be degenerated to synthesize a mechanism with one cam pair.

scholarly journals Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

2021 ◽  
Vol 11 (12) ◽  
pp. 5398
Author(s):  
Tomáš Kot ◽  
Zdenko Bobovský ◽  
Aleš Vysocký ◽  
Václav Krys ◽  
Jakub Šafařík ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Dynamic Simulation ◽  
Robot Manipulator ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Wear Reduction ◽  
Fixed End ◽  
Robot Placement ◽  
Collaborative Robot

We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

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