scholarly journals Optimization Approach for Inverse Kinematic Solution

Kinematics ◽  
2017 ◽  
Author(s):  
Panchanand Jha ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Inverse Kinematic ◽  
Optimization Approach ◽  
Kinematic Solution

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

scholarly journals Scanning electron microscope fine tuning using four-bar piezoelectric actuated mechanism

2018 ◽  
Vol 69 (1) ◽  
pp. 24-31
Author(s):  
Khaled S. Hatamleh ◽  
Qais A. Khasawneh ◽  
Adnan Al-Ghasem ◽  
Mohammad A. Jaradat ◽  
Laith Sawaqed ◽  
...  
Keyword(s):  
Electron Microscope ◽  
Scanning Electron Microscope ◽  
Inverse Kinematic ◽  
Fine Tuning ◽  
Electron Microscopes ◽  
Tuning Strategy ◽  
Scanning Electron Microscopes ◽  
Fine Tune ◽  
Kinematic Solution ◽  
Scanning Electron

Abstract Scanning Electron Microscopes are extensively used for accurate micro/nano images exploring. Several strategies have been proposed to fine tune those microscopes in the past few years. This work presents a new fine tuning strategy of a scanning electron microscope sample table using four bar piezoelectric actuated mechanisms. The introduced paper presents an algorithm to find all possible inverse kinematics solutions of the proposed mechanism. In addition, another algorithm is presented to search for the optimal inverse kinematic solution. Both algorithms are used simultaneously by means of a simulation study to fine tune a scanning electron microscope sample table through a pre-specified circular or linear path of motion. Results of the study shows that, proposed algorithms were able to minimize the power required to drive the piezoelectric actuated mechanism by a ratio of 97.5% for all simulated paths of motion when compared to general non-optimized solution.

Analysis of the Grasp Planning Method for Manipulation of BH-4 Dextrous Hand

2007 ◽  
Author(s):  
Weidong Guo ◽  
Mileta M. Tomovic ◽  
Jiting Li
Keyword(s):  
Coordinate System ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Experimental Result ◽  
Robot Arm ◽  
Grasp Planning ◽  
Physical Prototype ◽  
Dexterous Hand ◽  
Dextrous Hand ◽  
Kinematic Solution

The paper presents method for planning robotic dexterous hand grasping task using example of the Beihang University’s BH-4 dexterous hand. The grasping planning method is devised through modeling and simulation and experimentally verified using physical prototype. The paper presents the method for forward and inverse kinematic solutions of the BH-4 robot 4-DOF finger, including transformation matrix between the palm coordinate system and the finger base coordinate system. In addition, the method of the idiographic manipulation is presented using example of ball grasping. The simulation results and physical experiment verify that the inverse kinematic solution is correct, and kinematic grasping and operating planning is valid and feasible. Finally, the experiment with the complex system integrated robot arm with dexterous hand is carried out. Experimental result shows that the more complicated grasping task can be done by a dexterous hand integrated in the robot arm system.

Inverse Kinematic Solution of Robot Manipulators Using Interval Analysis

1998 ◽  
Vol 120 (1) ◽  
pp. 147-150 ◽  
Author(s):  
R. S. Rao ◽  
A. Asaithambi ◽  
S. K. Agrawal
Keyword(s):  
Computational Complexity ◽  
Numerical Algorithm ◽  
Interval Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Real Numbers ◽  
Computational Mathematics ◽  
All Solutions ◽  
Inverse Kinematics Problem ◽  
Kinematic Solution

Interval analysis is a growing branch of computational mathematics where operations are carried out on intervals instead of real numbers. This paper presents the first application of this method to robotic mechanisms for the solution of inverse kinematics. As shown in this paper, it is possible to potentially compute all solutions of the inverse kinematics problem using this method. This paper describes the preliminaries of interval analysis, the numerical algorithm, the computational complexity, and illustrations with examples.

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