scholarly journals Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 75
Author(s):  
Yunwang Li ◽  
Shirong Ge ◽  
Sumei Dai ◽  
Lala Zhao ◽  
Xucong Yan ◽  
...  
Keyword(s):  
Large Scale ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Combined System ◽  
Wheeled Mobile Robots ◽  
Physical Prototype ◽  
Kinematic Models ◽  
Simulated Motion ◽  
Multiple Robot

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

Kinematic modeling and control of mobile robot for large-scale workpiece machining

2020 ◽  
pp. 095440542093370
Author(s):  
Bo Tao ◽  
Xingwei Zhao ◽  
Sijie Yan ◽  
Han Ding
Keyword(s):  
Mobile Robot ◽  
Large Scale ◽  
Screw Theory ◽  
Kinematic Model ◽  
Speed Control ◽  
Constant Speed ◽  
Mobile Platform ◽  
Robot Arm ◽  
Kinematic Modeling ◽  
Robotic Machining

Safety and reliability are significant in the sense of robotic machining for large-scale workpieces. In this article, a control scheme is proposed to ensure the safe motion of the mobile robot. Screw theory is used to analyze the motion of the mobile robot. The mobile platform with Mecanum wheels can be considered as a mechanism with four driven screws in series. An auxiliary reference position of the mobile platform is calculated based on the kinematic model, and the motion of the mobile platform and robot arm can be decoupled to handle its redundant degrees of freedom. Constant speed control is investigated to reduce the interaction force between the robot and platform. Experiments are conducted on the mobile robotic machining task for a large-scale wind turbine blade. The mobile robot moves steadily and smoothly owing to the constant speed control with an auxiliary target.

Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

2014 ◽  
Vol 19 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Transcendental Functions ◽  
Simulation Results

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

scholarly journals Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Chong Wang ◽  
Dongxue Liu ◽  
Qun Sun ◽  
Tong Wang
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Open Architecture ◽  
Model Parameters ◽  
Structural Variations ◽  
Robot Controller ◽  
Kinematic Models ◽  
Kinematic Studies

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

Design and Analysis of a Multi-Segment Shape Morphing Mechanism

2020 ◽  
pp. 1-24
Author(s):  
Yingzhong Tian ◽  
Yinjun Zhao ◽  
Long Li ◽  
Guangjie Yuan ◽  
Fengfeng F. F. Xi
Keyword(s):  
Large Scale ◽  
Compliant Mechanism ◽  
Kinematic Model ◽  
Compact Structure ◽  
Shape Morphing ◽  
Aerospace Applications ◽  
Kinematic Models ◽  
The One ◽  
Variable Geometry Truss ◽  
Motion Mode

Abstract This paper presents a novel design of a multi-segment shape morphing mechanism that combines a passive lockable reconfigurable variable geometry truss manipulator (VGTM) with an active parallel compliant mechanism. The structure of the VGTM is in a parallel-serial structure and its hyper-redundant degree-of-freedom (DOF) can be fully controlled by using two active flexible panels. This mechanism is suitable for aerospace applications that require light and compact structure with high load-carrying ability as well as achieve multiple DOFs for large scale shape deformation. To make shape morphing process simple and efficient, the mobility and topological configuration of the mechanism are analyzed first. Then, a control strategy combining the approximate motion mode and the exact motion mode is proposed. The kinematic models for different motion modes are established and solved analytically. It has been found that, under the exact motion mode, two approaches could be realized for the pose control under external loads for each segment. The one with the shorter moving path is selected in this paper. At last, a prototype was constructed to demonstrate the feasibility of this structure and verify the proposed kinematic model.

Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Brayden DeBoon ◽  
Ryan C. A. Foley ◽  
Scott Nokleby ◽  
Nicholas J. La Delfa ◽  
Carlos Rossa
Keyword(s):  
Upper Limb ◽  
Evaluation Method ◽  
Kinematic Model ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Kinematic Modeling ◽  
Joint Angles ◽  
Rehabilitative Treatment ◽  
Rehabilitation Devices

Abstract The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

Verification of a Wheeled Mobile Robot Dynamic Model and Control Ramifications

1999 ◽  
Vol 121 (1) ◽  
pp. 58-63 ◽  
Author(s):  
Daehie Hong ◽  
Steven A. Velinsky ◽  
Xin Feng
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Kinematic Model ◽  
High Load ◽  
Wheeled Mobile Robots ◽  
Model Based Control ◽  
Practical Applications ◽  
High Speeds ◽  
Kinematic Models ◽  
And Control

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

scholarly journals Kinematics of Serial Manipulators

2020 ◽  
Author(s):  
Ivan Virgala ◽  
Michal Kelemen ◽  
Erik Prada
Keyword(s):  
Rigid Body ◽  
Numerical Solutions ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Body Motion ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Open Chain ◽  
Serial Manipulators ◽  
Serial Robot

This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.

Kinematic models and isotropy analysis of wheeled mobile robots

Robotica ◽  
2008 ◽  
Vol 26 (5) ◽  
pp. 587-599 ◽  
Author(s):  
Luis Gracia ◽  
Josep Tornero
Keyword(s):  
Mobile Robots ◽  
Relative Error ◽  
Practical Application ◽  
Kinematic Modeling ◽  
Wheeled Mobile Robots ◽  
Previous Theory ◽  
Error Amplification ◽  
Kinematic Models ◽  
Optimal Configurations

SUMMARYThis research presents a comprehensive and useful survey of the kinematic models of wheeled mobile robots and their optimal configurations. The kinematic modeling of wheeled mobile robots with no-slip is presented, by considering four common types of wheels: fixed, orientable, castor, and Swedish. Next, the accuracy of the kinematic models is discussed considering their sensitivity or relative error amplification, giving rise to the isotropy concept. As practical application of the previous theory, all types of three-wheeled mobile robots are modeled and their optimal (isotropic) configurations for no error amplification are obtained. Finally, three practical examples of error amplification are developed for several types of wheeled mobile robots in order to illustrate the benefits and limitations of the isotropic configurations.

Geometric and Kinematic Modelling of a New Parallel Kinematic Machine Tool: The Tripteor X7 Designed by PCI

2010 ◽  
Vol 112 ◽  
pp. 159-169 ◽  
Author(s):  
Sylvain Pateloup ◽  
Helene Chanal ◽  
Emmanuel Duc
Keyword(s):  
Machine Tools ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Parallel Kinematic Machine ◽  
Joint Coordinates ◽  
Kinematic Behaviour ◽  
Kinematic Modelling ◽  
Kinematic Models ◽  
Automotive Part ◽  
Parallel Kinematic

Today, Parallel Kinematic Machine tools (PKMs) appear in automotive and aeronautic industry. These machines propose high kinematic performances allowing a higher productivity than Serial Kinematic Machine tools (SKMs). However, this kinematic behaviour is anisotropic and a particular study is then necessary to locate the part in a workspace where the kinematic performances are well exploited. The study presented in this article deals with the determination of geometric and kinematic models of a new PKM : the Tripteor X7 designed by PCI. The inverse kinematic model expresses the joint coordinates with regard to the cartesian coordinates. The kinematic model which takes into account velocity, acceleration and jerk limits axis, allows computing the displacement time between two tool positions. Finally, this model can be used to determine the workspace where Non Effective cutting Times (TNE) are minimum. The method is applied for an automotive part machining

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