Wyniki wyszukiwania - BazTech

1

Singularity-robust inverse kinematics for serial manipulators

Dulęba Ignacy

Journal of Automation Mobile Robotics and Intelligent Systems

|

2023

|

Vol. 17, No. 3

38--45

EN

This paper is a practical guideline on how to analyze and evaluate the literature algorithms of singularity- robust inverse kinematics or to construct new ones. Additive, multiplicative, and based on the Singularity Value Decomposition (SVD) methods are examined to retrieve well-conditioning of a matrix to be inverted in the Newton algorithm of inverse kinematics. It is shown that singularity avoidance can be performed in two different, but equivalent, ways: either via properly modified manipulability matrix or not allowing the decrease of the minimal singular value below a given threshold. It is discussed which method can always be used and which can only be used when some pre‐conditions are met. Selected methods are compared to with respect to the efficiency of coping with singularities based on a theoretical analysis as well as simulation results. Also, some questions important for mathematically and/or practically oriented roboticians are stated and answered.

2

Inverse kinematics model for a 18 degrees of freedom robot

Ortega-Palacios Miguel Angel, Palomino-Merino Amparo Dora, Reyes-Cortes Fernando

Journal of Automation Mobile Robotics and Intelligent Systems

|

2023

|

Vol. 17, No. 1

21--29

EN

The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.

3

Forward and inverse kinematics solution of a robotic manipulator using a multilayer feedforward neural network

Sharkawy Abdel-Nasser

Journal of Mechanical and Energy Engineering

|

2022

|

Vol. 6, No 2

1--17

EN

In this paper, a multilayer feedforward neural network (MLFFNN) is proposed for solving the problem of the forward and inverse kinematics of a robotic manipulator. For the forward kinematics solution, two cases are presented. The first case is that one MLFFNN is designed and trained to find solely the position of the robot end-effector. In the second case, another MLFFNN is designed and trained to find both the position and the orientation of the robot end-effector. Both MLFFNNs are designed considering the joints’ positions as the inputs. For the inverse kinematics solution, a MLFFNN is designed and trained to find the joints’ positions considering the position and the orientation of the robot end-effector as the inputs. For training any of the proposed MLFFNNs, data is generated in MATLAB using two different cases. The first case is that data is generated assuming an incremental motion of the robot’s joints, whereas the second case is that data is obtained with a real robot considering a sinusoidal joint motion. The MLFFNN training is executed using the Levenberg-Marquardt algorithm. This method is designed to be used and generalized to any DOF manipulator, particularly more complex robots such as 6-DOF and 7-DOF robots. However, for simplicity, this is applied in this paper using a 2-DOF planar robot. The results show that the approximation error between the desired output and the estimated one by the MLFFNN is very low and it is approximately equal to zero. In other words, the MLFFNN is efficient enough to solve the problem of the forward and inverse kinematics, regardless of the joint motion type.

4

Forward kinematics algorithm for anthropomorphic manipulators

Kubik I., Kwiatoń P.

Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa

|

2017

|

T. 5

39--51

EN

The paper presents the problem of forward kinematics of an anthropomorphic manipulators. The proposed forward kinematics algorithm based on equations of classical mechanics. The sample simulations have been done for four degrees of freedom manipulator mounted on the Martian rover. The correctness of the proposed algorithm has been verified with the help of results obtained using Denavit-Hartenberg notation. The shown derivations are basis to consider of dynamics problem. The presented algorithm can be also used for other devices having only rotational joints.

PL

W pracy przedstawiono zagadnienie kinematyki prostej manipulatorów antropomorficznych. Zaproponowany algorytm rozwiązywania kinematyki prostej sformułowano, bazując na metodzie wykorzystującej równania mechaniki klasycznej. Przedstawiono przykładowe wyniki symulacyjne dla manipulatora o czterech stopniach swobody zamontowanego na łaziku marsjańskim. Działanie zaproponowanego algorytmu sprawdzono, porównując uzyskane wyniki z rezultatami otrzymanymi z wykorzystaniem notacji Denavita-Hartenberga. Otrzymane parametry ruchu manipulatora stanowią podstawę do rozważań zagadnień dynamicznych. Zaprezentowany algorytm może być wykorzystywany także do innych urządzeń posiadających tylko przeguby obrotowe.

5

Modelowanie kinematyki mobilnego robota transportowego

Stania M., Stetter R., Posiadała B.

Zeszyty Naukowe Instytutu Pojazdów / Politechnika Warszawska

|

2011

|

z. 4/85

73--84

PL

W pracy przedstawiono zagadnienie modelowania kinematyki ruchu autonomicznego pojazdu transportowego skonstruowanego na Uczelni Hochschule Ravensburg-Weingarten. W pracy sformułowano i rozwiązano zagadnienie proste jak i odwrotne kinematyki 8-kołowego autonomicznego pojazdu transportowego oraz przedstawiono przykładowe wyniki symulacyjne reprezentujące zmiany poszczególnych parametrów ruchu. W modelu kinematyki uwzględniono zjawisko kontaktu pomiędzy podłożem a kołem napędowym. Przy rozwiązywaniu zadania odwrotnej kinematyki założono tor ruchu oraz prędkość wybranego punktu należącego do platformy. Model prosty kinematyki został opracowany w celu zweryfikowania poprawności opracowanego modelu kinematyki. Przedstawione wyniki symulacyjne wykazują zgodność opracowanych modeli kinematyki badanego obiektu. Opracowane modele pozwalają na prowadzenie analiz ruchu obiektu poprzez badania symulacyjne na podstawie zaproponowanego modelu obliczeniowego.

EN

Modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten has been presented in the paper. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved as well as the example simulation results representing the changes of individual motion parameters have been showed. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended during the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to do verification of correctness of studied kinematics model. The presented simulation results point out compatibility the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

6

Zaawansowane techniki animacji trójwymiarowych modeli szkieletowych w środowisku FRS

Mysłek T., Grudziński T., Ross J.

Studia Informatica

|

2006

|

Vol. 27, nr 1

41-54

PL

W publikacji wyjaśniono ideę animowania modeli trójwymiarowych za pomocą danych szkieletowych oraz opisano sposoby automatycznej generacji animacji. W ramach przedstawiania metod automatycznej generacji animacji zostały opisane problemy kinmematyki prostej oraz opisano algorytm przybliżonego rozwiązywania problemu kinematyki odwrotnej.

EN

The paper discusses the idea of the animation of a 3-dimensional model by using its skeleton data and also presents some methods of automatic animation generation. During description of methods of automatic animation generation, topics such as forward kinematics and inversed kinematics are mentioned and also the algorithm of approximate solution of invesred kinematics problem is presented.