scholarly journals Finding Optimal Manipulator Arm Shapes to Avoid Collisions in a Static Environment

2020 ◽  
Vol 11 (1) ◽  
pp. 64
Author(s):  
Tomáš Kot ◽  
Zdenko Bobovský ◽  
Mathias Brandstötter ◽  
Václav Krys ◽  
Ivan Virgala ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Particle Swarm Optimization Algorithm ◽  
Industrial Robots ◽  
Kinematic Structure ◽  
Typical Structure ◽  
Swarm Optimization ◽  
Six Degrees Of Freedom ◽  
Manipulator Arm ◽  
The Given ◽  
Collaborative Robot

In situations of a confined workplace with a lot of obstacles and a complicated required trajectory of the endpoint of an industrial or collaborative robot, it may be impossible to find a suitable robot and its position within the workplace to fulfill the given task. In some cases, it could be favorable to design a custom manipulator arm with an unusual kinematic structure or shapes of some of its links. This article presents a novel way of finding the optimal lengths and shapes of two crucial links of a manipulator arm, where the target lengths are as short as possible to reduce mass, and the shape in the form of a Bézier curve is chosen to avoid collisions. The chosen type of kinematic structure of the manipulator arm is fixed and is based on the most typical structure of existing industrial robots, with six degrees of freedom. Two algorithm variants were proposed; one method uses iterations to find the solution based on in-depth collision analysis, and the second method uses the particle swarm optimization algorithm. Both methods were implemented in a simulation system and verified in several testing workplaces.

scholarly journals ABB IRB 120-30.6 Build Procedure in RoboDK

2021 ◽  
pp. 256-264
Author(s):  
Sudip Chakraborty ◽  
P. S. Aithal
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Research Purpose ◽  
Six Degrees Of Freedom ◽  
Simulation Based ◽  
Software Download ◽  
Coordinate Assignment

Purpose: Research on robotics needs a robot to experiment on it. The actual industrial robot is costly. So, the only resort is to use a Robot simulator. The RoboDK is one of the best robot simulators now. It has covered most of the popular industrial robots. Its interface is straightforward. Just open the software, download the robot as we need, and start experiments. Up to that, no issue was found anywhere. However, the problem begins when we want to build the simulated robot by own. Lots of complexity arises like coordinate assignment, rotation not aligned, length mismatch, robot not synced with DH parameter. We begin to find some documents for making the robots. A few bits of the document are present. That is why we research it. After doing that, we prepared this paper for the researcher who wants to develop the simulated robot independently. This paper can be referenced for them. To minimize the complexity of our research, we study an industrial robot, ABB IRB 120-30.6. It is a good and popular robot. It is six degrees of freedom robot. We will use the specification and STEP file from their respective website and build a simulated robot from the STEP file for our research purpose. Design/Methodology/Approach: We will create a simulated robot from ABB IRB 120-30.6 STEP file. To create a robot by own, we took the help of the IRB 120 robot model. To demonstrate as simple as possible, we start with that robot whose default design is already present. We match and tune the joint coordinate based on robot parameters through this experiment. Findings/results: Here, we see how to create a custom robot. Using the IRB 120 robot model, we will create a robot model step by step. Furthermore, it will move it around its axis. Originality/Value: Using this experiment, the new researcher can get valuable information to create their custom robot. Paper Type: Simulation-based Research.

Solving reachable workspace of some parallel manipulators by computer-aided design variation geometry

2008 ◽  
Vol 222 (9) ◽  
pp. 1773-1781 ◽  
Author(s):  
Y Lu ◽  
Y Shi ◽  
B Hu
Keyword(s):  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Six Degrees Of Freedom ◽  
Reachable Workspace ◽  
Spline Curves ◽  
Computer Aided ◽  
Design Variation ◽  
Aided Design ◽  
The Given

To shape the workspace of some novel parallel manipulators (PMs) is significant. A novel computer-aided design (CAD) variation geometry approach is proposed to shape and solve the reachable workspace of some PMs with three to six degrees of freedom (DOFs). Some basic techniques are described for designing the simulation mechanism and solving the reachable workspace. The simulation mechanisms of some PMs with three to six DOFs are created. When varying the driving dimensions of the active legs in the given extent, the simulation mechanisms vary correspondingly, and the position components of the moving platform are solved automatically. By transferring the position solutions into spatial spline curves in the simulation mechanism, all the boundary surfaces of the workspace can be created and visualized dynamically. Comparing with analytic approaches for solving workspace, the CAD variation geometry approach is simple, straightforward, accurate, and repeatable.

A time-delayed observer for fault detection and isolation in industrial robots

Robotica ◽  
2006 ◽  
Vol 24 (5) ◽  
pp. 557-565 ◽  
Author(s):  
F. Caccavale ◽  
P. Chiacchio ◽  
I. D. Walker
Keyword(s):  
Fault Detection ◽  
Discrete Time ◽  
Time Domain ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Industrial Robots ◽  
Fault Detection And Isolation ◽  
Unmodeled Dynamics ◽  
Six Degrees Of Freedom

In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot.

A Method of Saddle Trajectory Simulation Based on ADAMS

2014 ◽  
Vol 687-691 ◽  
pp. 645-648
Author(s):  
Qiang Fu ◽  
Wen Ming Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Complex Space ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Simulation ◽  
Six Degrees Of Freedom ◽  
Trajectory Simulation ◽  
Simulation Based ◽  
Adams Software ◽  
Saddle Shape

Six degrees of freedom in this paper, by using the ADAMS software to realize the industrial robots can make any saddle trajectory simulation, and trajectory parameters, and it is easy to control the generated trajectory of the saddle shape, size and spatial position,which will improve the efficiency of the industrial robot simulation. The method of complex space curve simulation is generic, and can test the coordinate axis displacement, so the executing agency for the actual factory to avoid movement interference has a certain significance.

scholarly journals A Velocity-Combined Local Best Particle Swarm Optimization Algorithm for Nonlinear Equations

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Zhigang Lian ◽  
Songhua Wang ◽  
Yangquan Chen
Keyword(s):  
Particle Swarm Optimization ◽  
Nonlinear Equations ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Particle Swarm ◽  
Local Optimum ◽  
The Novel ◽  
Swarm Optimization ◽  
The Given ◽  
Novel Algorithm

Many people use traditional methods such as quasi-Newton method and Gauss–Newton-based BFGS to solve nonlinear equations. In this paper, we present an improved particle swarm optimization algorithm to solve nonlinear equations. The novel algorithm introduces the historical and local optimum information of particles to update a particle’s velocity. Five sets of typical nonlinear equations are employed to test the quality and reliability of the novel algorithm search comparing with the PSO algorithm. Numerical results show that the proposed method is effective for the given test problems. The new algorithm can be used as a new tool to solve nonlinear equations, continuous function optimization, etc., and the combinatorial optimization problem. The global convergence of the given method is established.

Numerical and Experimental Study of 3-D Sloshing in Tanks of LNG Carriers

2006 ◽  
Author(s):  
Makoto Arai ◽  
Humberto S. Makiyama ◽  
Liang-Yee Cheng ◽  
Atsushi Kumano ◽  
Takahiro Ando ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Wave Spectrum ◽  
Irregular Waves ◽  
3D Analysis ◽  
Six Degrees Of Freedom ◽  
Strong Relation ◽  
3D Effects ◽  
Membrane Type ◽  
Tank Geometry ◽  
The Given

This paper describes a numerical analysis of sloshing in liquid cargo tanks of membrane-type liquefied natural gas (LNG) carriers in a rough sea. The numerical method used in this study is based on a finite-difference method, in which impact pressure on the tank ceiling is treated accurately by a numerical boundary condition proposed by the authors. Tank motion with six degrees of freedom was given by the response amplitude operator of a ship, and sloshing that occurs in regular and irregular waves is examined. An ISSC wave spectrum is used to generate the irregular waves. We describe the influence of 3D effects due to tank motion and tank geometry on the sloshing flow, and show the strong relation of the sloshing to the frequency of the given ship motion. Comparison of the numerical results with the measured data shows the effectiveness of the presented 3D analysis method.

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

2016 ◽  
Vol 8 (2) ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Feng Gao
Keyword(s):  
Mathematical Models ◽  
Degrees Of Freedom ◽  
Type Synthesis ◽  
Sea Lion ◽  
End Effector ◽  
Motion Patterns ◽  
Six Degrees Of Freedom ◽  
Rotational Motions ◽  
The Given ◽  
Actuated Joints

A family of novel mechanisms with three limbs called sea lion ball mechanisms (SLBMs) is investigated that looks like a sea lion playing with a ball. The SLBM-type mechanism is composed of an upper part and a lower part connected together by three limbs in parallel, and the translational and rotational motions are fully/partially decoupled. The end-effector position is determined by inputs of the lower part, while the posture is mainly determined by inputs of the upper part. First, two compositional principles are abstracted and the corresponding mathematical models are built for the SLBM-type mechanisms that the commutative feature of the SLBMs is found. Then, two type synthesis procedures containing five steps are proposed correspondingly. Following the procedure, a family of novel four, five, and six degrees-of-freedom (DOF) SLBM-type mechanisms is synthesized systematically. The motion patterns of the limbs are enumerated according to the given desired ones of the mechanisms and the limbs are synthesized correspondingly. Finally, several novel SLBM-type mechanisms are achieved by assembling the obtained limbs and selecting the actuated joints.

scholarly journals Research on Trajectory Planning of Six Degrees of Freedom Robot

2019 ◽  
Vol 25 ◽  
pp. 01010
Author(s):  
Hao Zhou
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Research Direction ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Continuous Development ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

With the continuous development of industrial automation, the demand for industrial robots in the manufacturing field is gradually increasing. In order to meet the needs of different occasions and functions, the planning of the trajectory of the robot becomes the research direction of the six-degree-of-freedom robot. The research object of this paper is a six-degree-of-freedom industrial robot. According to engineering needs, a structure of a handling robot is designed. The kinematics of the robot and its trajectory planning are studied, and the simulation analysis is made.

Realization of a 6-DOF Manipulator With an Unconventional Topological Structure

2008 ◽  
Author(s):  
Keisuke Arikawa
Keyword(s):  
Topological Structure ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Structure ◽  
Spherical Joint ◽  
Active Joint ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem ◽  
Skeletal Model ◽  
And Control

We propose a six-degrees-of-freedom manipulator with an unconventional topological structure. Because of the complex kinematic structure, it might seem that we cannot actually build such a manipulator. However, we show that we can construct a working model and control its hand configuration. First, we discuss the mobility of the proposed manipulator, and present the conditions imposed on the kinematic structure and the active joint selection. Then, we derive a numerical solution of the inverse kinematics problem by making the best use of the mechanical features, and present the simulation results of trajectory tracking of the hand configuration obtained using the solution. Next, under static equilibrium, we derive the conditions for the singular configurations, where the hand cannot support specific force moments. Finally, we construct an equivalent spherical joint that has a large movable range, and we present a working skeletal model of the proposed manipulator using the joints.

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