scholarly journals Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

2021 ◽  
Vol 11 (3) ◽  
pp. 1203
Author(s):  
Štefan Ondočko ◽  
Jozef Svetlík ◽  
Michal Šašala ◽  
Zdenko Bobovský ◽  
Tomáš Stejskal ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Structural Changes ◽  
Kinematic Chain ◽  
Building Blocks ◽  
Robotic Arm ◽  
Six Degrees Of Freedom ◽  
Coordinate Vector ◽  
Mathematical Equations ◽  
The Individual

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

2015 ◽  
Vol 762 ◽  
pp. 305-311
Author(s):  
Mihai Crenganis ◽  
Octavian Bologa
Keyword(s):  
Fuzzy Logic ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
Redundancy Resolution ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

2014 ◽  
Vol 657 ◽  
pp. 823-828
Author(s):  
Mihai Crenganis ◽  
Radu Eugen Breaz ◽  
Sever Gabriel Racz ◽  
Octavian Bologa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models

2014 ◽  
Vol 555 ◽  
pp. 320-326 ◽  
Author(s):  
Mihai Crenganis ◽  
Radu Breaz ◽  
Gabriel Racz ◽  
Octavian Bologa
Keyword(s):  
Fuzzy Logic ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
The Real ◽  
Fuzzy Models ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

scholarly journals COMPARISON SELECTED NUMERICAL METHODS FOR THE CALCULATION INVERSE KINEMATICS OF NON-STANDARD MODULAR ROBOTIC ARM CONSISTING OF UNIQUE ROTATIONAL MODULES

2021 ◽  
Vol 2021 (2) ◽  
pp. 4468-4473
Author(s):  
STEFAN ONDOCKO ◽  
◽  
JOZEF SVETLIK ◽  
TOMAS STEJSKAL ◽  
MICHAL SASALA ◽  
...  
Keyword(s):  
Numerical Methods ◽  
Nonlinear Equations ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Initial Conditions ◽  
Open Loop ◽  
Robotic Arm ◽  
Computation Method ◽  
Six Degrees Of Freedom ◽  
Computational Speed

The paper compares the most commonly used numerical methods of solving a set of nonlinear equations, especially in terms of computational speed. The methods are applied to a set of nonlinear equations that describe the forward kinematics of a non-standard robotic arm. This arm is an open-loop kinematics chain, composed of special rotary modules. A non-standard feature of the modules is the unlimited rotation around their own axis. This robotic arm consists of six such modules and, thus, has six degrees of freedom. Computations of this nonlinear set of equations are also called inverse kinematics. All computations were performed in Matlab. The same initial conditions, the computation input parameters, and the same structure of the program was used with each method. By applying the below mentioned known methods to the same set, we sought to choose a suitable computation method for the given type of mechanism.

Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

2020 ◽  
Vol 142 (8) ◽  
Author(s):  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Algorithm ◽  
Real Life ◽  
Path Tracking ◽  
Robotic Arm ◽  
Tracking Problem ◽  
Six Degrees Of Freedom ◽  
Time Optimal ◽  
Path Tracking Algorithm ◽  
Extended Path

Abstract This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.

Cooperative Strategies and Genome Cybernetics in Formation of Complex Bacterial Patterns

1994 ◽  
Vol 367 ◽  
Author(s):  
Eshel Ben-Jacob ◽  
Ofer Shochet ◽  
Inon Cohen ◽  
Adam Tenenbaum ◽  
Andras CzirÓk ◽  
...  
Keyword(s):  
Pattern Formation ◽  
Degrees Of Freedom ◽  
Cooperative Behavior ◽  
Building Blocks ◽  
Growth Conditions ◽  
Living Systems ◽  
Cooperative Strategies ◽  
Additional Level ◽  
Bacterial Patterns ◽  
The Individual

AbstractWe present a study of interfacial pattern formation during growth of bacterial colonies. Growth of bacterial colonies bears similarities but presents an inherent additional level of complexity in comparison with non-living systems. In the former case, the building blocks themselves are living systems, each with its own autonomous self-interest and internal degrees of freedom. The bacteria have developed sophisticated communication channels, which they utilize when growth conditions are tough. Here we present a non-local communicating walkers model to study the effect of local bacterium-bacterium interaction and communication via chemotaxis signaling. We demonstrate how communication enables the colony to develop complex patterns in response to adverse growth conditions. This self-organization of the colony, which can be achieved only via cooperative behavior of the bacteria, may be viewed as the outcome of an interplay between the micro-level (the individual bacterium) and the macro-level (the colony). Some qualitative features of the complex morphologies can be accounted for by invoking ideas from pattern formation in non-living systems together with a simplified model of chemotactic “feedback”.

A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 123-129 ◽  
Author(s):  
John Q. Gan ◽  
Eimei Oyama ◽  
Eric M. Rosales ◽  
Huosheng Hu
Keyword(s):  
Analytical Solution ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Effective Solution ◽  
Robotic Arms ◽  
Unstructured Environment ◽  
Inverse Kinematics Problem

For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kinematics of the P2Arm, which makes it possible to control the arm to any reachable position in an unstructured environment. The strategies developed in this paper could also be useful for solving the inverse kinematics problem of other types of robotic arms.

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