scholarly journals Existence Conditions and General Solutions of Closed-form Inverse Kinematics for Revolute Serial Robots

2019 ◽  
Vol 9 (20) ◽  
pp. 4365 ◽  
Author(s):  
Wang Shanda ◽  
Luo Xiao ◽  
Luo Qingsheng ◽  
Han Baoling
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Form Solution ◽  
Algebraic Equations ◽  
Closed Form Solutions ◽  
Serial Robots ◽  
Existence Conditions ◽  
Low Degrees

This study proposes a method for judging the existence of closed-form inverse kinematics solutions based on the Denavit–Hartenberg (DH) model. In this method, serial robots with closed-form solutions are described using three types of sub-problems from the viewpoint of solving algebraic equations. If a serial robot can be described using these three types of sub-problems, i.e., if the inverse kinematics problems can be solved by several basic problems, then there is a closed-form solution. Based on the above method, we design a set of universal closed-form inverse kinematics solving algorithms. Since there is a definite formula solution for the three types of sub-problems, the joint angles can be rapidly determined. In addition, because the DH parameters can directly reflect the linkage of the robot, the judgment of the sub-problems is also quick and accurate. More importantly, the algorithm can be applied to serial robots with low degrees of freedom. This enables the algorithm to not only quickly and accurately solve inverse kinematics problems but also to exhibit high universality. This proposed theory improves the existence conditions for closed-form reverse solutions and further promotes the development of motion control techniques for serial robots.

Structure design and kinematics of a robot manipulator

Robotica ◽  
1988 ◽  
Vol 6 (4) ◽  
pp. 299-309 ◽  
Author(s):  
Kesheng Wang ◽  
Terje K. Lien
Keyword(s):  
Numerical Solution ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Closed Form Solution ◽  
Form Solution ◽  
Structure Design ◽  
General Algorithm ◽  
6 Degrees Of Freedom

SUMMARYIn this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

2013 ◽  
Vol 455 ◽  
pp. 533-538
Author(s):  
Edris Farah ◽  
Shao Gang Liu
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Surgical Robot ◽  
Decoupling Method ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

scholarly journals Closed-form solution for column buckling optimization

2021 ◽  
Author(s):  
Vladimir Kobelev
Keyword(s):  
Closed Form ◽  
Dimensional Analysis ◽  
Optimization Problem ◽  
Closed Form Solution ◽  
Elliptic Functions ◽  
Isoperimetric Inequalities ◽  
Form Solution ◽  
Algebraic Equations ◽  
Closed Form Solutions ◽  
Axial Forces

Abstract An optimization problem for a column, loaded by axial forces, whose direction and value remain constant, is studied in this article. The dimensional analysis introduces the dimensionless mass and rigidity factors, which simplicities the mathematical technique for the optimization problem. With the method of dimensional analysis, the solution of the nonlinear algebraic equations for the Lagrange multiplier is superfluous. The closed-form solutions for Sturm-Liouville and mixed types boundary conditions are derived. The solutions are expressed in terms of the higher transcendental function. The principal results are the closed form solution in terms of the hypergeometric and elliptic functions, the analysis of single- and bimodal regimes, and the exact bounds for the masses of the optimal columns. The proof of isoperimetric inequalities exploits the variational method and the Hölder inequality. The isoperimetric inequalities for Euler’s column are rigorously verified.

Validation of Nitinol SMA Characteristics Using Finite Element Analysis and Closed Form Solutions

2013 ◽  
Vol 856 ◽  
pp. 147-152
Author(s):  
S.H. Adarsh ◽  
U.S. Mallikarjun
Keyword(s):  
Experimental Data ◽  
Finite Element Analysis ◽  
Finite Element ◽  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
Fe Analysis ◽  
Element Analysis ◽  
Complex Behaviour ◽  
Closed Form Solutions

Shape Memory Alloys (SMA) are promising materials for actuation in space applications, because of the relatively large deformations and forces that they offer. However, their complex behaviour and interaction of several physical domains (electrical, thermal and mechanical), the study of SMA behaviour is a challenging field. Present work aims at correlating the Finite Element (FE) analysis of SMA with closed form solutions and experimental data. Though sufficient literature is available on closed form solution of SMA, not much detail is available on the Finite element Analysis. In the present work an attempt is made for characterization of SMA through solving the governing equations by established closed form solution, and finally correlating FE results with these data. Extensive experiments were conducted on 0.3mm diameter NiTinol SMA wire at various temperatures and stress conditions and these results were compared with FE analysis conducted using MSC.Marc. A comparison of results from finite element analysis with the experimental data exhibits fairly good agreement.

scholarly journals Reconstruction of three-dimensional maps based on closed-form solutions of the variational problem of multisensor data registration

2019 ◽  
Vol 484 (6) ◽  
pp. 672-677
Author(s):  
A. V. Vokhmintcev ◽  
A. V. Melnikov ◽  
K. V. Mironov ◽  
V. V. Burlutskiy
Keyword(s):  
Closed Form ◽  
Large Scale ◽  
Three Dimensional ◽  
Dynamic Environment ◽  
Closed Form Solution ◽  
Point Clouds ◽  
Accurate Method ◽  
Form Solution ◽  
Closed Form Solutions ◽  
Reconstruction Methods

A closed-form solution is proposed for the problem of minimizing a functional consisting of two terms measuring mean-square distances for visually associated characteristic points on an image and meansquare distances for point clouds in terms of a point-to-plane metric. An accurate method for reconstructing three-dimensional dynamic environment is presented, and the properties of closed-form solutions are described. The proposed approach improves the accuracy and convergence of reconstruction methods for complex and large-scale scenes.

scholarly journals A New Closed-Form Solution of the Side Abutment Pressure Distribution of Roadway

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Liang Cheng ◽  
Yidong Zhang
Keyword(s):  
Plastic Zone ◽  
Pressure Distribution ◽  
Closed Form ◽  
Abutment Pressure ◽  
Closed Form Solution ◽  
Evaluation Process ◽  
Friction Angle ◽  
Form Solution ◽  
Closed Form Solutions ◽  
Roadway Stability

Instability of coal wall is one of the hot-button and difficult issues in the study of coal mine ground control. The shallow side coal of roadway in the coal measures is usually weak and consequently easy to bring about failure. Hence, the side abutment pressure redistributes and dramatically influences the roadway stability. Since the previous closed-form solutions of the side abutment pressure do not take into account all the necessary parameters which include the properties of the coal and the interface between coal and roof/floor, the roadway height, and the support strength, a mechanical model is established based on the equilibrium of the plastic zone, and a new closed-form solution is derived in this paper. Moreover, a numerical investigation is conducted to validate the accuracy of the closed-form solution. The numerical results of the side abutment pressure distribution are in good agreement with the closed-form solution. Afterwards, a parametric analysis of the width of the plastic zone is carried out, and the results show that the width of the plastic zone is nearly negatively linearly correlated with the friction angle and the cohesion of the coal, the interfacial cohesion, and the support strength. By contrast, it is positively linearly correlated with the roadway height and negatively exponentially correlated with the interfacial friction angle. The results obtained in the present study could be useful for the evaluation process of roadway stability.

Use of Resultants and the Bernshtein Formula in the Dimensional Synthesis of Linkage Components

1994 ◽  
Vol 116 (4) ◽  
pp. 1171-1172 ◽  
Author(s):  
Chuen-Sen Lin ◽  
Bao-Ping Jia
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
Polynomial Equations ◽  
Dimensional Synthesis ◽  
Fourth Degree ◽  
Finite Precision ◽  
Closed Form Solutions ◽  
System Of Polynomial Equations ◽  
Resultant Theory

The applications of resultants and the Bernshtein formula for the dimensional synthesis of linkage components for finite precision positions are discussed. The closed-form solutions, which are derived from systems of polynomials in multiple unknowns by applying resultant theory, are in forms of polynomial equations of a single unknown. For the case of two compatibility equations, the closed form solution is a sixth degree solution polynomial. For the case of three compatibility equations, the solution is a fifty-fourth degree solution polynomial. For each case, the Bernshtein formula is applied to calculate the number of solutions of the system of polynomial equations. The calculated numbers of solutions match the degrees of the solution polynomials for both cases.

Development of a new buffing robot manipulator for shoes

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 55-62 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Gyu-Deuk Hwang ◽  
Sam-Sang You
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Closed Form Solution ◽  
Electronic System ◽  
Form Solution ◽  
Graphic User Interface ◽  
Test Results ◽  
C Language ◽  
Communication Program

SUMMARYThis paper presents analysis and experimental verifications of a new robot manipulator with five degrees of freedom developed for the buffing operation of shoes. First, the forward and inverse kinematics are analyzed. Next, an analytic closed-form solution is rigorously derived for the joint angles corresponding to the position and orientation of the end-effector in Cartesian coordinates. A control system, including input/output interfaces and the related electronic system, is designed for the control of the mechanical structure of the buffing robot. Then, peripheral systems integrated with the conveyer, transfer device, and fixture device are designed for the sequential buffing process of shoes. Also, a graphic user interface (GUI) program including the forward/inverse kinematics, control algorithm, and communication program to interact the robot with the peripheral systems is developed by using visual C++ language. A new flexible toolholder (FTH) is proposed to compensate for the excessive applied force between deburring tools and shoes. Finally, the test results are provided to demonstrate the effectiveness of the proposed scheme.

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