Reference trajectory tracking for a multi-DOF robot arm

• Autorzy: Krasňanský R. , Valach P. , Soós D. , Zarbakhsh J.

Identyfikatory

DOI

10.1515/acsc-2015-0033

• Języki publikacji: EN

Abstrakty

EN

This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

Słowa kluczowe

EN

inverse kinematics; real-time reference tracking; signal generator; multi-DOF; dynamic data exchange

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2015
• Tom: Vol. 25, no. 4
• Strony: 513--527
• Opis fizyczny: Bibliogr. 14 poz., rys., schem., tab., wykr., wzory

Twórcy

autor

Krasňanský R.

• Faculty of Electrical Engineering and IT, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, Slovak Republic

autor

Valach P.

• Faculty of Electrical Engineering and IT, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, Slovak Republic

autor

Soós D.

• Faculty of Electrical Engineering and IT, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, Slovak Republic

autor

Zarbakhsh J.

• Carinthia University of Applied Science, Europastrasse 4, 9524 Villach, Austria

Bibliografia

• [1] J. Angeles, F. Ranjbaran and R. V. Patel: On the design of the kinematic structure of seven-axes redundant manipulators for maximum conditioning. Proc. of the IEEE Int. Conf. Robotics and Automation, Nice, France,(1992), 494-499.
• [2] J. G. P. Barnes: An algorithm for solving non-linear equations based on the secont method. Computer J., 8, (1965), 66-72.
• [3] J. Denav it and R. S. Hartenberg: A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, (1955), 215-221.
• [4] R. G. Fenton, B. Benhabib and A. A. Goldenbereg: Optimal point-to-point motion control of robots with redundant degrees of freedom. J. of Manufacturing Science and Engineering, 108(2), 1986, 120-126.
• [5] R. Fletcher: Generalized inverse methods for the best least squares solution of systems of non-linear equations: Computer J., 10 (1968), 392-399.
• [6] C. A. Klein and C. H. Hung: Review of pseudoinverse control for use with kinematically redundant manipulators. IEEE Trans. on Systems, Man, and Cybernetics, 13, 245-250.
• [7] Y. Nakamura and H. Hanafusa: Inverse kinematics solutions with singularity robustness for robot manipulator control. J. of Dynamic Systems, Measurement, and Control, 108 (1986), 163-171.
• [8] P. Rabinowitz: Numerical Methods for Non-linear Algebraic Equations. New York: Gordon and Breach, 1970, 87-114.
• [9] J. De Schutter, T. De Laet and J. Rutgeerts: Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. The Int. J. Robotics Research, 26(5), (2007), 433-455.
• [10] B. Siciliano: Kinematic control of redundant robot manipulators: A tutorial. J. of Intelligent and Robotic Systems, 3(3), (1990), 201-212.
• [11] C.W. Wampler: Manipulator inverse kinematic solutions based on vector formulations and damped least squares methods. IEEE Trans. on Systems, Man and Cybernetics, 16 (1986), 93-101.
• [12] L. C.T. Wang and C. C. Chen: A combined optimization method for solving the inverse kinematics problem of mechanical manipulators. IEEE Trans. on Robotics and Automation, 7 (1991), 489-499.
• [13] W . A. Wolovichand and H. Elliot: A computational technique for inverse kinematics. 23rd IEEE Conf. on Decision and Control, (1984).
• [14] J. Zhao and N. I. Badler: Inverse kinematics positioning using nonlinear programming for highly articulated figures. ACM Trans. on Graphics, 13 (1994), 313-336.

Uwagi

EN

This work has been supported by Grant N. 1/1241/12 of the Slovak Scientific Grant Agency