scholarly journals A Workspace-Analysis-Based Genetic Algorithm for Solving Inverse Kinematics of a Multi-Fingered Anthropomorphic Hand

2021 ◽  
Vol 11 (6) ◽  
pp. 2668
Author(s):  
Chun-Tse Lee ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Genetic Algorithm ◽  
Inverse Kinematics ◽  
Estimation Algorithm ◽  
Inverse Kinematic ◽  
Complex Geometries ◽  
Redundant Manipulator ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Anthropomorphic Hands ◽  
Optimal Set

Although the solution of inverse kinematics for a serial redundant manipulator has been widely researched, many algorithms still seem limited in dealing with complex geometries, including multi-finger anthropomorphic hands. In this paper, the inverse kinematic problems of multiple fingers are an aggregate problem when the target points of fingers are given. The fingers are concatenated to the same wrist and the objective is to find a solution for the wrist and two fingers simultaneously. To achieve this goal, a modified immigration genetic algorithm based on workspace analysis is developed and validated. To reduce unnecessary computation of the immigration genetic algorithm, which arises from an inappropriate inverse kinematic request, a database of the two fingers’ workspace is generated using the Monte Carlo method to examine the feasibility of inverse kinematic request. Furthermore, the estimation algorithm provides an optimal set of wrist angles for the immigration genetic algorithm to complete the remaining computation. The results reveal that the algorithm can be terminated immediately even when the inverse kinematic request is out of the workspace. In addition, a distribution of population in each generation illustrates that the optimized wrist angles provide a better initial condition, which significantly improves the convergence of the immigration genetic algorithm.

Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations

1995 ◽  
Author(s):  
Louis Perreault ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
General Procedure ◽  
Inverse Kinematic ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Inverse Kinematic Problem

Abstract This paper presents an algorithm for the solution of the inverse kinematics of a serial redundant manipulator with one (or more) locked joint(s). To this end, a general procedure is developed for the determination of the equivalent Denavit-Hartenberg parameters of a serial manipulator with locked joints. This procedure can be applied to any serial architecture. The solution of the inverse kinematic problem for the three cases which can arise is then addressed. An example of the application of the method to a SARCOS 7-DOF manipulator is also given.

A new motion planning method for discretely actuated hyper-redundant manipulators

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 101-118 ◽  
Author(s):  
Alireza Motahari ◽  
Hassan Zohoor ◽  
Moharam Habibnejad Korayem
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Trajectory Tracking ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Redundant Manipulators ◽  
Tracking Problem ◽  
Parallel Mechanisms ◽  
Redundant Manipulator ◽  
The Common

SUMMARYA hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. Theremoving first collision(RFC) method, which is originally proposed for solving the inverse kinematic problems in the obstacle fields was modified and used to solve the motion planning problem. For verification, the numerical results of the proposed method were compared with the results of thegenetic algorithm(GA) method. Furthermore, a novel DAHM designed and implemented by the authors is introduced.

Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Congzhe Wang ◽  
Yuefa Fang ◽  
Sheng Guo
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Parallel Mechanisms ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Displacement Theory ◽  
Lie Subgroup ◽  
Orientation Workspace

This paper describes the design, kinematics, and workspace analysis of 3R2T and 3R3T parallel mechanisms (PMs) with large rotational angles about three axes. Since the design of PMs with high rotational capability is still a challenge, we propose the use of a new nonrigid (or articulated) moving platform with passive joints in order to reduce the interference between limbs and the moving platform. According to the proposed nonrigid platform and Lie subgroup of displacement theory, several 3R2T and 3R3T PMs are presented. Subsequently, the inverse kinematics and velocity analysis of one of the proposed mechanisms are detailed. Based on the derived inverse kinematic model, the constant-orientation workspace is computed numerically. Then, the analysis of rotational capability about the three axes is performed. The result shows that even if interference and singularity are taken into account, the proposed mechanisms still reveal the high continuously rotational capability about the three axes, by means of actuation redundancy.

scholarly journals Workspace Analysis and Optimization of 3-PUU Parallel Mechanism in Medicine Base on Genetic Algorithm

2015 ◽  
Vol 9 (1) ◽  
pp. 214-218 ◽  
Author(s):  
Yongchao Hou ◽  
Yang Zhao
Keyword(s):  
Genetic Algorithm ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Parallel Robot ◽  
Search Method ◽  
Configuration Design ◽  
Optimization Analysis ◽  
Workspace Analysis ◽  
Promising Application

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this parallel robot, which laid the foundations for the configuration design and further analysis of the parallel mechanism, with the result indicated that this type of robot was equipped with promising application prospect. In addition that, the workspace after optimization can meet more requirements of patients.

The Statistical Evaluations of Transmission Characteristics, Limits of Ranges and Speeds of Transmission of Information Via the Pulsed Atmospheric Bistatic Optical Channels

2019 ◽  
pp. 97-104
Author(s):  
Mikhail V. Tarasenkov ◽  
Egor S. Poznakharev ◽  
Vladimir V. Belov
Keyword(s):  
Communication Systems ◽  
Estimation Algorithm ◽  
Transmission Characteristics ◽  
Radiation Beam ◽  
Optical Channels ◽  
The Monte Carlo Method ◽  
Wide Range ◽  
Transmission Of Information ◽  
Optical Axes ◽  
Visibility Range

The simulation program by the Monte Carlo method of pulse reactions of bistatic atmospheric aerosol-gas channels of optical-electronic communication systems (OECS) is created on the basis of the modified double local estimation algorithm. It is used in a series of numerical experiments in order to evaluate statistically the transfer characteristics of these channels depending on the optical characteristics of an atmosphere plane-parallel model for wavelengths λ = 0.3, 0.5, and 0.9 μm at a meteorological visibility range SM = 10 and 50 km. The results are obtained for a set of basic distances between the light source and the light receiver up to 50 km and for the angular orientations of the optical axes of a laser radiation beam and of the receiving system in a wide range of their values. The dependences of the pulse reactions maximum values over-the-horizon channels of the OECS on the variations of these parameters are established.

scholarly journals Doublel-robot coordination workspace Analysis based on Matlab

2018 ◽  
Vol 232 ◽  
pp. 03057
Author(s):  
Wei Wang ◽  
Yong Xu
Keyword(s):  
Boundary Surface ◽  
Value Theory ◽  
Working Space ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Solution Equation ◽  
Space Boundary ◽  
Robot Cooperation ◽  
Limit Position ◽  
Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2669-2688 ◽  
Author(s):  
Wenfu Xu ◽  
Lei Yan ◽  
Zonggao Mu ◽  
Zhiying Wang
Keyword(s):  
Inverse Kinematics ◽  
Reference Plane ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Singularity Problem ◽  
Human Arm ◽  
Angle Method ◽  
Self Motion ◽  
Dual Arm ◽  
Configuration Control

SUMMARYAn S-R-S (Spherical-Revolute-Spherical) redundant manipulator is similar to a human arm and is often used to perform dexterous tasks. To solve the inverse kinematics analytically, the arm-angle was usually used to parameterise the self-motion. However, the previous studies have had shortcomings; some methods cannot avoid algorithm singularity and some are unsuitable for configuration control because they use a temporary reference plane. In this paper, we propose a method of analytical inverse kinematics resolution based on dual arm-angle parameterisation. By making use of two orthogonal vectors to define two absolute reference planes, we obtain two arm angles that satisfy a specific condition. The algorithm singularity problem is avoided because there is always at least one arm angle to represent the redundancy. The dual arm angle method overcomes the shortcomings of traditional methods and retains the advantages of the arm angle. Another contribution of this paper is the derivation of the absolute reference attitude matrix, which is the key to the resolution of analytical inverse kinematics but has not been previously addressed. The simulation results for typical cases that include the algorithm singularity condition verified our method.

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