Application of direct and inverse kinematics and dynamics in motion planning of manipulator links

• Autorzy: Delyová Ingrid , Hroncová Darina , Frankovský Peter , Sivák Peter , Kostka Ján , Neumann Vojtech

Identyfikatory

DOI

10.59441/ijame/169515

• Języki publikacji: EN

Abstrakty

EN

For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in Matlab. Subsequently, the trajectories of the end-effector were determined in Matlab by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

Słowa kluczowe

EN

kinematics analysis; manipulator; inverse kinematics problem; motion planning; inverse dynamic problem

PL

manipulator; kinematyka; dynamika odwrotna

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2023
• Tom: Vol. 28, no. 3
• Strony: 53--64
• Opis fizyczny: Bibliogr. 19 poz., rys., tab., wykr.

Twórcy

autor

Delyová Ingrid

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

autor

Hroncová Darina

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

autor

Frankovský Peter

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

autor

Sivák Peter

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

autor

Kostka Ján

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

autor

Neumann Vojtech

• Faculty of Mechanical Engineering, Technical University of Košice, SLOVAK REPUBLIC

Bibliografia

• [1] Hroncová D., Delyová I. and Frankovský P. (2021): Kinematics of positioning device for material handling in manufacturing.– Act. Log., vol.8, No.1, pp.11-18.
• [2] Lewis F.L., Dawson D.M. and Abdallah C.T. (2003): Robot Manipulator Control: Theory and Practice.– CRC Press.
• [3] Angeles, J. (Ed.). (2003): Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms.– New York, NY: Springer New York.
• [4] Kuryło P., Cyganiuk J., Tertel E. and Frankovský P. (2016): Machine vision investigate the trajectory of the motion human body–review of the methods.– Act. Mech., vol.1, No.2, pp.7-13.
• [5] Sapietová A., Saga M., Kuric I. and Václav Š. (2018): Application of optimization algorithms for robot systems designing.– Int. J. of Adv. Rob. Sys., vol.15, No.1, pp.1-10.
• [6] Božek P. and Lozhkin A. (2019): The precision calculating method of robots moving by the plane trajectories.– Int. J. of Adv. Rob. Sys., vol.16, No.6, pp.1-8.
• [7] Siciliano B., Khatib O. and Kröger T. (Eds.) (2008): Springer Handbook of Robotics (Vol. 200).– Berlin: Springer.
• [8] Siciliano B., Sciavicco L., Villani L. and Oriolo G. (2009): Trajectory Planning, In: Robotics: Modelling, Planning and Control.– Springer, pp. 161-189.
• [9] Kuryło P., Pivarčiová E., Cyganiuk J. and Frankovský P. (2019): Machine vision system measuring the trajectory of upper limb motion applying the matlab software.– Meas. Scie. Rev., vol.19, No.1, pp.1-8.
• [10] Kuric I., Tlach V., Sága M., Císar M. and Zajačko I. (2021): Industrial robot positioning performance measured on inclined and parallel planes by double ballbar.– App. Scien., vol.11, No.4, pp.1-17.
• [11] Lenarčič J. and Stanišić M.M. (Eds.) (2010): Advances in robot kinematics: motion in man and machine.– Springer Science & Business Media.
• [12] Hroncová D., Miková Ľ., Gmiterko A., Delyová I., Sivák P. and Frankovský P. (2019): Contribution to computer simulation of problems from the theory of mechanisms focused on robots.– In AIP Conference Proceedings, vol.2198, No.1, p.020005, AIP Publishing LLC.
• [13] Frankovský P., Hroncová D., Delyová I. and Virgala I. (2013): Modeling of dynamic systems in simulation environment MATLAB/Simulink-SimMechanics.– Am. J. of Mech. Eng., vol.1, No.7, pp.282-288.
• [14] Baressi Šegota S., Anđelić, N., Lorencin I., Saga M. and Car Z. (2020): Path planning optimization of six-degree-of freedom robotic manipulators using evolutionary algorithms.– Int. J. of Adv. Rob. Sys., vol.17, No.2, pp.1-16.
• [15] Hroncová D. and Delyová, I. (2020): Computer Simulation Using MSC ADAMS.– Act. Mech., vol.5, No.3, pp.41-46.
• [16] Vavro Jr J., Vavro J., Kováčiková P. and Bezdedová R. (2017): Kinematic and dynamic analysis of planar mechanisms by means of the solid works software.– Proc. Eng., vol.177, pp.476-481.
• [17] Grepl R. (2004): Computer modelling of rigid body systems dynamics.– Laboratory of Mechatronics and Robotics-a joint workplace of the Institute of Solid Mechanics, Mechatronics and Biomechanics of the Brno University of Technology and the Institute of Thermomechanics of the Academy of Sciences of the Czech Republic.
• [18] Grepl R. (2007): Modelling of Mechatronic Systems in Matlab.– Sim Mechanics, BEN.
• [19] Frankovský P., Dominik L., Gmiterko A., Virgala I., Kurylo P. and Perminova O. (2017): Modeling of two-wheeled self-balancing robot driven by DC gearmotors.– Int. J. of App. Mech. and Eng., vol.22, No.3, pp.739-747.

Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024)