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1

Arduino-based implementation of kinematics for a 4 DOF robot manipulator using artificial neural network

Rashid Zaid Hikmat, Sarhan Riyadh Ahmed, Hassan Mohammed Salih

Diagnostyka

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2024

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Vol. 25, No. 1

art. no. 2024114

EN

Real-time motion control is basically dependent on robot kinematics analysis where there is no unique solution of the inverse kinematics of serial manipulators. The predictive artificial neural network is a powerful one for finding appropriate results based on training data. Therefore, an artificial neural network is proposed to implement on Arduino microcontroller for a 4-DOF robot manipulator where the inverse kinematics problem was partitioned to suit the low specification of the board CPU. With MATALB toolbox, multiple neural network configuration based were trained and experienced for the best fit of the dimensionless feedforward data that is obtained from the forward kinematics of reachable workspace with average MSE of 6.5e-7. The results showed the superior of the proposed networks reducing the joints error by 90 % at least with comparing to traditional one. An Arduino on-board program was developed to control the robot independly based on pre validated parameters of the network. The experimental results approved the proposed method to implement the robot in real time with maximum error of (± 0.15 mm) in end effector position. The presented approach can be applied to achieve a suitable solution of n-DOF self-depend robot implementation using micro stepping actuators.

2

Relationship of lumbar-hip kinematics during trunk flexion and sex, body mass index, and self-reported energy expenditure: a cross-sectional analysis

Zawadka Magdalena, Smołka Jakub, Skublewska-Paszkowska Maria, Łukasik Edyta, Zieliński Grzegorz, Gawda Piotr

Acta of Bioengineering and Biomechanics

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2023

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Vol. 25, no. 1

56--64

EN

Physical activity (PA) is a well-known, simple and effective preventive and therapeutic intervention for low back pain (LBP). In spite of the growing interest in active lifestyles and its benefits, more needs to be known about the relationship between energy expenditure, body mass and lumbar-pelvic kinematics during the forward bending movement in a group of young asymptomatic people who met PA guidelines. Young people can be identified as a future risk group of civilisation diseases and lumbar-hip kinematics can be considered as a predictor of LBP occurrence. The aim of this study was to identify the association of gender, self-reported energy expenditure, body mass index, and lumbar-hip kinematics in young people. Methods: Sixty-four students at pre-employment stage participated in the study. They declared moderate-to-high PA and activity-induced energy expenditure (AEE) was self-reported. Kinematic data of the lumbar spine, pelvis and hip were collected during forward bending using a 3D motion ca pture system. Results: Sex was found to be associated with pelvis ( = –0.38 p = 0.002) and lumbar mobility ( = 0.49, p < 0.001) during forward bending and BMI was related only to lumbar mobility ( = –0.41, p = 0.001). Recreation AEE significantly predicted hip flexion mobility ( = 0.38, p = 0.002). Conclusions: This study showed that among a sample of physically active young people, BMI, self-reported AEE and sex can partially predict lumbar-hip kinematics during trunk flexion. Recreational PA can be regarded as improving hip mobility and thus making forward bending more effective and less prone to injury.

3

Kinematic analysis of the basketball jump shot with increasing shooting distance: comparison between experienced and non-experienced players

Caseiro André, Faro Ana, França Cíntia, Branquinho-Gomes Beatriz

Acta of Bioengineering and Biomechanics

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2023

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Vol. 25, no. 2

61--67

EN

Basketball jump shot success is determined mainly by the height, velocity and angle of ball release. To achieve a successful shot, these variables need to be adjusted according to the player’s position on the court. This study aimed to identify the changes in kinematics variables of the basketball jump shot with an increasing shooting distance performed by players with varying skill levels. Methods: Seventeen male subjects, divided into experienced (N = 9), and non-experienced (N = 8) players, performed three successful jump shots from the free-throw line (4.23 m) and the 3-point line (6.75 m). All attempts were recorded at 120 Hz with a camera perpendicularly to the sagittal plane, and the kinematics variables were calculated using Tracker software. Results: The increase in shooting distance shows a decrease in height and angle of ball release. In contrast, the velocity of ball release increased for both groups at longer distances. Experienced players presented a higher mean value of the height of ball release in both distances, which allowed for a lower velocity of ball release. Conclusions: The most meaningful improvement for players training the jump shot technique is to increase the release height of the ball, jumping higher and shooting the ball near the peak of the jump.

4

Analysis of segmental coordination in the lower extremity using vector coding: a pilot return-to-play study of acute ankle sprain

Yang Xiaoyi, Jiang Hanhui, Yu Peimin, Mei Qichang, Fernandez Justin, Gu Yaodong

Acta of Bioengineering and Biomechanics

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2023

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Vol. 25, no. 4

EN

Background: Acute ankle sprain may affect ankle function during sport and daily activities. This study aimed to use vector coding technique to analyze the difference over time between injured and healthy lower limb during the first week of acute ankle sprain phase (P1) and post a 1-month recovery phase (P2) to understand the return-to-play coordination strategy in the lower extremity. Methods: Six females attended the gait experiments with attached 40 reflective markers using eight camera Vicon motion capture system. All participants walked barefoot while turning in four directions (T0°, T45°, T90°, T135°) at their self-selected speed. Coordination patterns were classified as in-phase, anti-phase, proximal or distal dominancy between lower limb joints involving hip, knee, ankle, subtalar, metatarsophalangeal (MTP) joint and tarsometatarsal (TMT) joint. Results: P1 showed more proximal joint dominant in Hip-Knee coupling angles but P2 displayed more distal joint dominant in Knee-Ankle joint coordination pattern and mainly distal joint dominant in Ankle-MTP coupling angle mapping. The Ankle-TMT1 and Ankle-TMT5 coordination patterns matched best in straight walking but worst in T135 walking. Conclusions: Investigating inter-segmental coordination in different turning movements could provide insights into gait changes from acute ankle sprain from one-month return-to-play recovery. Knowledge of lower limb coordination pattern may provide clinical implications to improve dynamic balance and gait stability for individuals with acute ankle sprain.

5

Rejestracja obrazów a kalibracja kinematyki manipulatorów

Orozco Roberto, Ratajczak Adam

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

21-30

PL

Referat podejmuje próbę zaadaptowania wariacyjnych metod rejestracji obrazów do kalibracji kinematyki robotów manipulacyjnych. Rozpatrzono możliwość wykorzystania dyfeomorficznego dopasowania punktów charakterystycznych (ang. Diffeomorphic Landmark Matching) jako narzędzia do obliczania przekształceń dla szczególnej metody kalibracji, mianowicie kalibracji przez dyfeomorfizmy. Sformułowano problem rejestracji obrazów oraz przedstawiono idee związane z kalibracją prze dyfeomorfizmy. Efektywność takiego podejścia została zweryfikowana badaniami symulacyjnymi dla modelu kinematyki podwójnego wahadła.

EN

The paper addresses an attempt to adapt variational methods of the image registration to the calibration of manipulator kinematics. In particular, it considers an application of Diffeomorphic Landmark Matching as a tool for computing transformations for a specific calibration method, namely the calibration by diffeomorphisms. Image registration formalism as well as the ideas underlying the calibration method has been presented. The results of bonding these two theories have been evaluated by means of simulations.

6

Odporna kinematyka odwrotna w konfiguracjach osobliwych

Dulęba Ignacy

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

5-10

PL

W referacie przedstawiono zasady konstrukcji odpornych algorytmów kinematyki odwrotnej w konfiguracjach osobliwych i ich otoczeniu, uzasadniające także klasyczny algorytm odpornej odwrotności. Zaproponowano sposób addytywny i multiplikatywny wprowadzania poprawki do macierzy źle uwarunkowanej, by przywrócić jej dobre uwarunkowanie.

EN

In this paper additive and multiplicative methods of making inverse kinematics robust at (or around) singular configurations were presented. The methods are provable good and as special case cover also the literature robust inverse kinematics method. A clear advantage of robust methods is their independence on the cornak of singularities and simplicity in implementation.

7

Identyfikacja modelu robota mobilnego z użyciem adaptacyjnego obserwatora ESO

Patelski Radosław, Pazderski Dariusz

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

11-20

PL

W pracy rozważa się problem identyfikacji parametrów modelu dynamiki dwukołowego robota mobilnego z napędem różnicowym. Model dynamiki robota sformułowany został przy założeniu, że prędkości kół robota są mierzalnymi sygnałami wyjściowymi, natomiast prądy silników napędzających robota są sygnałami wejściowymi. W celu identyfikacji nieznanych parametrów robota wykorzystano zaproponowany niedawno adaptacyjny obserwator stanu rozszerzonego (PIESO) sformułowany poprzez połączenie klasycznego obserwatora stanu rozszerzonego (ESO) z gradientowym prawem adaptacji. Skuteczność proponowanego podejścia potwierdzono badaniami symulacyjnymi i eksperymentalnymi.

EN

In this paper a problem of identification of parameters of a two-wheeled mobile robot equipped with differential drive is considered. Model of the robot dynamics is formulated under an assumption that velocities of wheels are measurable outputs of the system, while the motor currents are input signals. In order to identify unknown parameters, a recent adaptive parameter identifying extended state observer (PIESO) algorithm is employed, which combines a classic ESO observer with a gradient adaptation law. The effectiveness of the proposed approach is validated by numerical and experimental trials.

8

An Innovative Project of a Bionic Robot for Social Applications in Felinotherapy

Litwin Sonia, Woźniak Klaudia, Olszewski Mariusz

Pomiary Automatyka Robotyka

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2021

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R. 25, nr 4

5--18

EN

The paper describes an innovative design of a bionic robot for applications in felinotherapy supporting hospital and home psychotherapeutic treatment of bedridden children and adults. The project was engineered by biomimicrating a biological cat, reaching its robotic model. Particular attention in this process was devoted to capturing the essence of feline motorics behavior and the possibility of mapping them in a mechatronic model. The geometry, kinematics and kinetics of this model were analyzed, creating assumptions for its practical implementation in the real mechanism of cat skeleton movement. The used software used the topology of elements in Autodesk Fusion 360 Simulation workspace by performing the critical elements of the mechatronic model in print using SLS technology. The work was also supported by a graphical simulation in the PyBullet environment.

PL

W pracy opisano innowacyjny projekt bionicznego robokota dla zastosowań w felinoterapii, wspomagającej szpitalne i domowe leczenie psychoterapeutyczne obłożnie chorych dzieci i dorosłych. Projekt zrealizowano inżyniersko przez biomimikrowanie biologicznego kota, dochodząc do jego robotycznego modelu. Szczególną uwagę w tym procesie poświęcono uchwyceniu istoty kocich zachowań ruchowych i możliwości ich odwzorowania w mechatronicznym modelu. Przeprowadzono analizę geometrii, kinematyki i kinetyki tego modelu, tworząc założenia jego praktycznej realizacji w rzeczywistym mechanizmie kociego ruchu. W wykorzystanym oprogramowaniu korzystano z topologii elementów w obszarze roboczym Autodesk Fusion 360 Simulation, wykonując krytyczne elementy mechatronicznego modelu drukiem, w technologii SLS. Prace wspomagano także symulacją graficzną w środowisku PyBullet.

9

The effects of ArUco marker velocity and size on motion capture detection and accuracy in the context of human body kinematics analysis

Wieczorek Bartosz, Warguła Łukasz, Kukla Mateusz, Kubacki Arkadiusz, Górecki Jan

Technical Transactions

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2020

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Vol. 117, iss. 1

art. no. e2020036

EN

The research aim was to analyse the influence of velocity and size of markers on the accuracy of motion capture measurement utilising image processing with the use of OpenCV. On the basis of the obtained results, the usefulness of the applied measurement method in studying the kinematics of the human body while driving operating a wheelchair was determined. This article presents the test results for a low-budget motion capture measurement system for testing the kinematics of the human body in a single plane. The tested measuring system includes a standard activity camera Xiaomi Yi4K, expanded polystyrene markers with printed ArUco codes, and original software for marker position detection developed by the author. The analysis of the measurement method with regard to its applicability in biomechanical studies has highlighted several key factors: the number of measuring points, measurement accuracy expressed as a relative error and the limit velocity at which the marker trajectory is correctly represented. The article shows that the limit velocity of the marker is 2.2 m/s for 50x50 mm markers and 1.4 m/s for 30x30 mm markers. The number of measured points ranged from 233 to 2,457 depending on the marker velocity. The relative error did not exceed 5% for the marker velocities and thus provided a correct representation of its trajectory.

10

Modern Industrial Robotics

Olszewski Mariusz

Pomiary Automatyka Robotyka

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2020

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R. 24, nr 1

5--20

EN

In the past decade, robots have become the basic tools for the automatization and robotization of industrial production, as they used to be in the 70s programmable controllers, in the 80s processor drive controllers, in the 90s of the twentieth century frequency controlled AC motors and in the first years of the 21st century digitization, expressed in the significant advancement and dissemination of computerization, telecommunications and internetization. This role is evidenced by further, beyond conventional robotics, extension of its application and the emergence of new hardware and software solutions oriented towards joint, by robots and human, undertaking of hitherto not rationalized production tasks. This essay is devoted to these transformations in contemporary robotics.

PL

Roboty stały się w mijającym dziesięcioleciu podstawowymi narzędziami automatyzacji i robotyzacji produkcji przemysłowej, tak jak kiedyś, w latach 70. sterowniki programowalne, w latach 80. procesorowe regulatory napędów, w latach 90. XX wieku nastawniki częstotliwościowe silników prądu przemiennego i w pierwszych latach XXI wieku cyfryzacja, wyrażająca się istotnym zaawansowaniem i upowszechnieniem informatyzacji, telekomunikacji i internetyzacji. Świadectwem tej roli jest dalsze, poza obszary konwencjonalnej robotyki, rozszerzanie jej aplikacji i pojawienie się nowych rozwiązań sprzętowych i programowych ukierunkowanych na wspólne, przez roboty i człowieka, podejmowanie dotychczas nie racjonalizowanych zadań produkcyjnych. Tym właśnie przemianom we współczesnej robotyce poświęcony jest ten esej.

11

Path planning optimization and object placement through visual servoing technique for robotics application

Patel Sumitkumar, Israni Dippal, Shah Parth

Journal of Automation Mobile Robotics and Intelligent Systems

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2020

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Vol. 14, No. 1

39--47

EN

Visual servoing define a new methodology for vision based control in robotics. Vision based action involve number of actions that move a robot in response of results of camera analysis. This process is important to operate and help robot to achieve a specific goal. The main purpose of visual servoing consists of considering a vision system by specific sensor dedicated to involve control servo loop and task. In this article, three visual control scheme: Image Based Visual Servoing (IBVS), Position Based Visual Servoing (PBVS) and Hybrid Based Visual Servoing (HBVS) are illustrated. The different terminologies are represented through effective workflow of robot vision. IBVS method concentrate on the image features that are immediately available in the image. This experiment is performed by estimating distance between camera and object. PBVS consist of moving object 3-D parameters to estimate measurement. This paper showcases PBVS using kuka robot model. HBVS uses the 2D and 3D servoing by combining visual sensors also it overcomes challenges of previous two methods. This paper represents HBVS method using IPR communication robot model.

12

Inverse kinematics of a spatial mechanismusing multibond graph

Maini Aman Kumar, Vaz Anand

Computer Assisted Methods in Engineering and Science

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2020

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Vol. 27, no. 1

71--85

EN

Various methods are available to compute kinematics and dynamics in the case of spa-tial mechanisms. These methods are cumbersome and laborious for large and multibodyspatial mechanisms. The bond graph technique is a powerful alternative tool for mode-ling. A four-link closed-chain 3R2S (3Revolute 2Spherical) spatial mechanism stands outamong the other four-link closed-chain spatial mechanisms due to its ability to be used ina number of applications. The main aim of this paper is to compute the inverse kinematicsof the mechanism using the bond graph structure of the system. In this paper, modeling ofa four-link closed-chain 3R2S spatial mechanism has been conducted using a multibondgraph approach. Inverse kinematics of the spatial mechanism, under various applications,has been directly obtained from the bond graph modeling. MATLAB coding for simula-tion has been done directly from the multibond graph without explicitly deriving systemequations. The simulation results have been analyzed and discussed using various plots.

13

Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation

Burghardt Andrzej, Skwarek Wincenty

Advances in Manufacturing Science and Technology

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2020

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Vol. 44, nr 4

121--128

EN

This article presents a description and methodology for building a kinematics model for the formation of twowheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.

14

Gait Kinematics Index, Global Symmetry Index and Gait Deviations Profile: Concept of a new comprehensive method of gait pathology evaluation

Jochymczyk-Woźniak Katarzyna, Nowakowska-Lipiec Katarzyna, Zadoń Hanna, Wolny Sabina, Gzik Marek, Gorwa Joanna, Michnik Robert

Acta of Bioengineering and Biomechanics

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2020

|

Vol. 22, no. 4

61--73

EN

The objective of the work was to define a new comprehensive method of evaluating gait pathology (Gait Kinematics Index, Global Symmetry Index and Gait Deviations Profile). Methods: The article presents in detail a mathematical algorithm of a new comprehensive method of evaluating gait pathology. Input data for the algorithm are the kinematic parameters of gait. The method is based on the determination of the following parameters: standardized angular variables (Wji), kinematic indicators of gait (KIj), gait cycle indicators (GCIi), Gait Kinematic Index (GKI), Gait Deviations Profile (GDP, GDPj), Global Symmetry Index (GSI) and Symmetry Indices (SIj) for kinematic gait values. The algorithm is based on the determination of the difference between results obtained in relation to the kinematics of movement of a given patient and the average value obtained in relation to the standard in each percentage of a gait cycle. The proposed method was tested using results obtained for 59 healthy persons and one patient with locomotor function disorder. Results: The GKI values for the reference group amounted to 0.89 ± 0.23. Information which can be obtained using the proposed gait assessment method was presented using an example of a patient with the disorder of locomotor functions. Areas of gait deviations, which were identified on the basis of the determined indicators, were presented in a graphic form using GDP. Conclusions: The new gait assessment method makes it possible to identify gait using a single numerical value, evaluate movements in individual joints and in subsequent moments as well as to assess the symmetry of gait.

15

Optimalisation of the blade movement of the mower

Škrabala Jozef, Hajdučík Adrián, Medvecký Štefan, Brumerčík František

Zeszyty Naukowe. Transport / Politechnika Śląska

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2019

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z. 105

213--222

EN

This article presents the correct adjustment of the mower’s blade movement relative to the forward movement of the mower. Everywhere around us are gardens, parks and meadow, which gives us reason to solve issues with mowing. The first part of this article shows agricultural machines, which are used today and the principle of correct cut of grass stalks. The next part shows the method of adjusting the mower’s blade speed. Design of a simple model was done with the use of Solid Edge Premium CAD. For computation, MSC Adams was used and post-processing was done with the use of Matlab. The connection between MSC Adams and Matlab was created by co-simulation.

16

Metoda wyznaczania prędkości punktów charakterystycznych zęba koła podatnego przekładni falowej

Kalina Adam, Mazurkow Aleksander, Warchoł Stanisław

Przegląd Mechaniczny

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2019

|

nr 9

41--44

PL

W artykule przedstawiono metodę wyznaczania prędkości punktów znajdujących się na głowie i stopie zęba koła podatnego przekładni falowej. Obliczenia przeprowadzono w funkcji kąta obrotu generatora, przyjmując różne wartości prędkości obrotowych wału wejściowego przekładni falowej z zablokowanym kołem sztywnym. Otrzymane wyniki posłużą w kolejnym etapie badań do określenia prędkości w chwilowych punktach styku znajdujących się na linii przyporu oraz zbudowania charakterystyk kinematycznych tego rodzaju przekładni.

EN

Paper contains information about method of calculation of velocity characteristic points of tooth of flexspline. Velocity is expressed as function of angle of rotation od wave generator. Calculations were made for two different values of rotation speed of wave generator. Calculation result will be used in future researches in purpose of examine kinematics of meshing of flexspline with circular spline.

17

Kinematyka docierarek tarczowych

Barylski Adam

Przegląd Mechaniczny

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2019

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nr 7-8

48--52

PL

Omówiono analizę kinematyki docierania powierzchni płaskich w układach jedno- i dwutarczowych. Przedstawiono opracowane modele standardowych układów kinematycznych. Wyznaczono zakresy zmienności prędkości docierania i wartości przyspieszeń w analizowanych układach kinematycznych.

EN

In the paper presented analysis of kinematics of plane surfaces lapping in single-disc and double-disc configurations. The models of standard kinematic systems have been demonstrated. The ranges of variability of machining speed and acceleration in the analyzed kinematic systems were determined.

18

Trio Motion Technology – zaawansowana kontrola ruchu

Mocak Patryk

Napędy i Sterowanie

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2019

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R. 21, nr 4

48--50

PL

Sterowanie dużą ilością osi stanowi problem dla niejednego przedsiębiorstwa. Zaawansowane aplikacje bardzo często wymagają innowacyjnego sprzętu. W takich aplikacjach istotną kwestią jest czas potrzebny programiście do stworzenia kompletnego, optymalnego kodu. W roku 2018 firma Multiprojekt Automatyka Sp. z o.o. wprowadziła do oferty właśnie tak nowatorskie rozwiązanie, pozwalające na realizację zaawansowanych algorytmów niezbędnych przy maszynach wieloosiowych. A to wszystko z poszanowaniem cennego czasu programisty.

19

Modeling the inspection robot with magnetic pressure pad

Kurc Krzysztof, Burghardt Andrzej, Szybicki Dariusz, Giergiel Józef

Mechanics and Mechanical Engineering

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2019

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Vol. 23, nr 1

50--58

EN

This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing proces brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.

20

The use of low-budget self-assembly sets for research and robotics education

Cheluszka Piotr

Management Systems in Production Engineering

|

2019

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nr 1 (27)

55--62

EN

The article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.