Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs

• Autorzy: Ali M. M. , Liu H. , Stoll N. , Thurow K.

Identyfikatory

DOI

10.14313/JAMRIS_4-2016/30

• Języki publikacji: EN

Abstrakty

EN

This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.

Słowa kluczowe

EN

kinematic analysis 6-DOF robotic arm; validation of kinematic solution; labware localization; labware manipulation; Kinect sensor

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2016
• Tom: Vol. 10, No. 4
• Strony: 40--52
• Opis fizyczny: Bibliogr. 31 poz., rys.

Twórcy

autor

Ali M. M.

• Center for Life Science Automation (CELISCA), University of Rostock, Rostock 18119, Germany

autor

Liu H.

• Center for Life Science Automation (CELISCA), University of Rostock, Rostock 18119, Germany

autor

Stoll N.

• Center for Life Science Automation (CELISCA), University of Rostock, Rostock 18119, Germany

autor

Thurow K.

• Center for Life Science Automation (CELISCA), University of Rostock, Rostock 18119, Germany

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.