scholarly journals Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT

Kinematics ◽  
2017 ◽  
Author(s):  
Ondrej Hock ◽  
Jozef Šedo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Forward And Inverse Kinematics

scholarly journals Forward and Inverse Kinematics Demonstration using RoboDK and C#

2021 ◽  
pp. 97-105
Author(s):  
Sudip Chakraborty ◽  
P. S. Aithal
Keyword(s):  
User Interface ◽  
Learning Curve ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Research Work ◽  
Arm Movement ◽  
Robotic Arm ◽  
Software Environment ◽  
Industrial Grade ◽  
Forward And Inverse Kinematics

Purpose: Robot researchers need a simulator to understand better the algorithm on path planning, arm movement, and many more. They need a good simulator. RoboDK is an excellent simulator to fulfill the research work. It has calibration facilities, so it is industrial-grade software. Its forward and inverse kinematics accuracy is better than any competing software. The main advantage is all robots under one IDE. When we use an industrial robot, and we must use their software environment to operate the robot. But the RoboDK covers most of the robots and runs under one roof. And we need to learn only one IDE. The RoboDK online library is full of the standard robot. And all robot’s operation procedure is the same. So, the learning curve of new robots is easy. It is easy to simulate, and it can connect with a practical robot to execute the task. Using this software, we can quickly create digital twins for the industry. Now we think about control the robot from our application. When we use to control the robot from an external environment or remote software, we need the use the API to control the robot. Here we will see how easily we can operate the robot from our custom application. We adopted RoboDK C# API and integrated it into Visual studio using a User interface to control the robot movement. Keeping this research as a reference, the robotic arm researcher can add value to their research. Our primary purpose is to shorten the learning curve to integrate the RoboDK with their custom application. Design/Methodology/Approach: Taking the RoboDK C# API they provided, we customized it according to our purpose with minimal components. After developing a graphical user interface, we interact through API. Then, opening both RoboDK IDE and C# application, we can send the End effector position using the sliding movement. Findings/Result: After our research, we found that RoboDK is a good IDE for our research on the robotics arm. We can easily integrate the C# API they provided with our custom application for research purposes. Originality/Value: If we want to test robotic arm movement in the simulator, we need an excellent simulator like RoboDK. Integrating the RoboDK C# API is a little bit time-consuming. Using our approach, the researcher can continue their research in a minimal period. And find adequate information here to integrate easily into their project. Paper Type: Simulation-based Research.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

Algebraic models based on trigonometric and Cramer's rules for computing inverse kinematics of robotic arm

2022 ◽  
Vol 1 (1) ◽  
pp. 1
Author(s):  
Riza Sulaiman ◽  
Wan Azlan Wan Hassan ◽  
Muhammad Fairuz Abd. Rauf ◽  
Zuraidy Adnan ◽  
Raja Mohd. Tariqi Raja Lope Ahmad ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Algebraic Models

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

2005 ◽  
Author(s):  
Paul Bosscher ◽  
Robert L. Williams ◽  
Melissa Tummino
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Search And Rescue ◽  
Kinematic Structure ◽  
Rescue Workers ◽  
Cable Robot ◽  
System Concept ◽  
Moment Resisting ◽  
Calibration Algorithm ◽  
Forward And Inverse Kinematics

This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.

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