scholarly journals Performance Prediction Network for Serial Manipulators Inverse Kinematics Solution Passing Through Singular Configurations

10.5772/10492 ◽  
2010 ◽  
Vol 7 (4) ◽  
pp. 36 ◽  
Author(s):  
Ali T. Hasan ◽  
H.M.A.A. Al-Assadi
Keyword(s):  
Performance Prediction ◽  
Inverse Kinematics ◽  
Serial Manipulators ◽  
Singular Configurations

A Novel Numerical Method to Solve the Inverse Kinematics of 3R Manipulators

2011 ◽  
Author(s):  
E. A. Gonza´lez-Barbosa ◽  
M. A. Gonza´lez-Palacios ◽  
L. A. Aguilera-Corte´s ◽  
C. A. Bernal-Marti´nez
Keyword(s):  
Differential Evolution ◽  
Numerical Method ◽  
Computational Efficiency ◽  
Software Package ◽  
Inverse Kinematics ◽  
Serial Manipulators ◽  
Singular Configurations ◽  
Simulation Results ◽  
General Geometry ◽  
Solution Problem

A new numerical method to solve the inverse kinematics solution problem of serial manipulators is developed in this paper. The proposed method is known as Differential Evolution (DE), a novel and efficient numerical method which has been adapted to solve the inverse kinematics solution of 3R serial manipulator of general geometry. Besides, the paper contains the complete structuring for the implementation of this new case in SnAP, a comprehensive software package for synthesis, analysis and simulation of serial manipulators. The DE method is stable since it converges to the solution with any initial values, and it is not sensitive to the singular configurations of serial manipulators. Simulation results are presented to show the performance benefits of the proposed algorithm. Computational efficiency of the method is shown based on the results, as well as in comparison with traditional methods used in this problem.

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

A Method of Inverse Kinematics Solution for a Class of Robotic Manipulators

1997 ◽  
Author(s):  
Tuna Balkan ◽  
M. Kemal Özgören ◽  
M. A. Sahir Arikan ◽  
H. Murat Baykurt
Keyword(s):  
Nonlinear Equation ◽  
Analytical Method ◽  
Multiple Solutions ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Inverse Kinematic ◽  
Singular Configurations ◽  
Inverse Kinematics Problem ◽  
Joint Variable

Abstract A semi-analytical method and a computer program are developed for inverse kinematics solution of a class of robotic manipulators, in which four joint variables are contained in wrist point equations. For this case, it becomes possible to express all the joint variables in terms of a joint variable, and this reduces the inverse kinematics problem to solving a nonlinear equation in terms of that joint variable. The solution can be obtained by iterative methods and the remaining joint variables can easily be computed by using the solved joint variable. Since the method is manipulator dependent, the equations will be different for kinematically different classes of manipulators, and should be derived analytically. A significant benefit of the method is that, the singular configurations and the multiple solutions indicated by sign ambiguities can be determined while deriving the inverse kinematic expressions. The developed method is applied to a six-revolute-joint industrial robot, FANUC Arc Mate Sr.

On the Numerical Inverse Kinematics of Robotic Manipulators

1987 ◽  
Vol 109 (1) ◽  
pp. 8-13 ◽  
Author(s):  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Robotic Manipulators ◽  
Analysis Method ◽  
Computationally Efficient ◽  
Serial Manipulators ◽  
Position Analysis ◽  
Zero Position

Based on the sequential motion of joints, a method is developed for the numerical inverse kinematics of serial manipulators. This algorithm is stable and computationally efficient and uses the zero position analysis method for robotic manipulators.

On the Placement of Serial Manipulators

2000 ◽  
Author(s):  
Karim Abdel-Malek ◽  
Wei Yu
Keyword(s):  
Cost Function ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Working Environment ◽  
Robot Arm ◽  
Serial Manipulators ◽  
Surface Patches ◽  
Numerical Formulation ◽  
Fixed Reference ◽  
Position And Orientation

Abstract Criteria and implementation for the placement robot manipulators with the objective to reach specified target points are herein addressed. Placement of a serial manipulator in a working environment is characterized by defining the position and orientation of the manipulator’s base with respect to a fixed reference frame. The problem has become of importance in both the medical and manufacturing fields, where a robot arm must be appropriately placed with respect to targets that cannot be moved. A broadly applicable numerical formulation is presented. While other methods have used inverse kinematics solutions in their formulation for defining a locality for the manipulator base, this type of solution is difficult to implement because of the inherent complexities in determining al inverse kinematic solutions. The approach taken in this work is based on characterizing the placement forcing a cost function to impel the workspace envelope in terms of surface patches towards the target points and subject to functionality constraints, but that does not require the computation of inverse kinematics. The formulation and experimental code are demonstrated using a number of examples.

scholarly journals Regularization of the Spatial Inverse Positioning Problem of Revolute Joint Manipulators

2017 ◽  
Vol 61 (3) ◽  
pp. 279
Author(s):  
Dániel András Drexler
Keyword(s):  
Inverse Kinematics ◽  
Closed Loop ◽  
Singular Values ◽  
Singular Configurations ◽  
Revolute Joints ◽  
Singular Direction ◽  
Inverse Kinematics Problem ◽  
Singular Configuration ◽  
Damped Least Squares ◽  
Kinematic Singularities

Inverse kinematics is a central problem in robotics, and its solution is burdened with kinematic singularities, i.e. the task Jacobian of the problem is singular. A subproblem of the general inverse kinematics problem, the inverse positioning problem is considered for spatial manipulators consisting of revolute joints, and a regularization method is proposed that results in a regular task Jacobian in singular configurations as well, provided that the manipulator’s geometry makes movement in singular directions possible. The conditions of regularizability are investigated, and bounds on the singular values of the regularized task Jacobian are given that can be used to create stable closed-loop inverse kinematics algorithms. The proposed method is demonstrated on the inverse positioning problem of an elbow manipulator and compared to the Damped Least Squares and the Levenberg-Marquardt methods, and it is shown that only the proposed method can leave the singular configuration in the singular direction.

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