scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

An Omnidirectional, Direct Singularity Drive System and its Inverse Kinematic Model

2014 ◽  
Author(s):  
Julie A. Reyer ◽  
Matthew T. West ◽  
Praveen K. Jonnavittula ◽  
Christopher T. Costello ◽  
Curtis Boirum
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Effective Radius ◽  
Drive System ◽  
Experimental Results ◽  
Kinematics Analysis ◽  
Thrust Vector ◽  
Singularity Point ◽  
Singularity Drive System

This paper presents an omnidirectional drive system. The design presented here involves a spinning hemispherical wheel mounted on a gimbal. The wheel operates at its singularity point when in the “neutral” or static position. As the gimbal is tilted, the wheel provides a thrust vector to the vehicle. The tilt determines the effective radius of the wheel, which in turn determines the amount of power that can be transmitted for motion. The paper presents the design and kinematic and inverse kinematics analysis of a singularity drive mechanism. Vehicles can have single or multiple singularity drive mechanisms to achieve increasing levels of maneuverability. From a control standpoint, each singularity drive is kinematically decoupled from other drives on the same vehicle. Vehicles with one, two and three singularity drive mechanisms are introduced and some experimental results are presented.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

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.

scholarly journals Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881829 ◽  
Author(s):  
Rongbo Zhao ◽  
Zhiping Shi ◽  
Yong Guan ◽  
Zhenzhou Shao ◽  
Qianying Zhang ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Matrix Theory ◽  
Screw Theory ◽  
Robot Manipulator ◽  
Inverse Kinematic ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Kinematics Modeling ◽  
High Level ◽  
Kinematic Solution

The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to parallel. As a result, this model is not suitable for kinematic calibration. In this article, to avoid the problem of singularity, the product of exponentials method based on screw theory is employed for kinematics modeling. In addition, the inverse kinematics of the 6R robot manipulator is solved by adopting analytical, geometric, and algebraic methods combined with the Paden–Kahan subproblem as well as matrix theory. Moreover, the kinematic parameters of the Denavit–Hatenberg and the product of exponentials-based models are analyzed, and the singularity of the two models is illustrated. Finally, eight solutions of inverse kinematics are obtained, and the correctness and high level of accuracy of the algorithm proposed in this article are verified. This algorithm provides a reference for the inverse kinematics of robots with three adjacent parallel joints.

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

Kinematics Analysis of the Exechon Tripod

2010 ◽  
Author(s):  
Matteo Zoppi ◽  
Dimiter Zlatanov ◽  
Rezia Molfino
Keyword(s):  
Machine Tools ◽  
Inverse Kinematics ◽  
Three Dimensional ◽  
Kinematics Analysis ◽  
Axis Parallel ◽  
Spherical Wrist ◽  
In Series ◽  
Successful Design ◽  
Parallel Kinematic ◽  
Fixture System

The Exechon 5-Axis Parallel Kinematic Machine (PKM) is a successful design created in Sweden and adopted by many producers of machine tools around the world. A new version of the manipulator is being developed as a component of a mobile self-reconfigurable fixture system within an inter-European project. The basic Exechon architecture consists of a 3-degree-of-freedom (dof) parallel mechanism (PM) connected in series with a two- or three-dof spherical wrist. The PM has two UPR (4-dof) legs, constrained to move in a common rotating plane, and an SPR (5-dof) leg. The paper presents the kinematic analysis of both the PM and the hybrid parallel-serial architecture. We describe the complex three-dimensional motion pattern of the PM platform, derive the kinematic equations and provide explicit solutions for the inverse kinematics.

Gesture Based Control of a Simulated Robot Manipulator

2015 ◽  
Author(s):  
Sukhdeep S. Dhami ◽  
Ashutosh Sharma ◽  
Rohit Kumar ◽  
Parveen Kalra
Keyword(s):  
Inverse Kinematics ◽  
Graphical Model ◽  
Robot Manipulator ◽  
Reference Signal ◽  
Human Robot Interaction ◽  
Human Hand ◽  
Hand Gestures ◽  
Matlab Simulink ◽  
Robot Wrist ◽  
Forward And Inverse Kinematics

The number of industrial and household robots is fast increasing. A simpler human-robot interaction is preferred in household robotic applications as well as in hazardous environments. Gesture based control of robots is a step in this direction. In this work, a virtual model of a 3-DOF robotic manipulator is developed using V-Realm Builder in MATLAB and the mathematical models of forward and inverse kinematics of the manipulator are coded in MATLAB/Simulink software. Human hand gestures are captured using a smartphone with accelerometer and orientation sensors. A wireless interface is provided for transferring smartphone sensory data to a laptop running MATLAB/Simulink software. The hand gestures are used as reference signal for moving the wrist of the robot. A user interface shows the instantaneous joint angles of robot manipulator and spatial coordinates of robot wrist. This simple yet effective tool aids in learning a number of aspects of robotics and mechatronics. The animated graphical model of the manipulator provides a better understanding of forward and inverse kinematics of robot manipulator. The robot control using hand gestures generates curiosity in student about interfacing of hardware with computer. It may also stimulate new ideas in students to develop virtual learning tools.

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