Download or read book Comparison of Inverse Kinematic Methods for a Redundant Robot written by Colin Bennett and published by . This book was released on 2015 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inverse kinematics is the process by which joint angles are solved for a given end position and research is being done to find new methods that are more efficient. The purpose of this thesis is to compare two new inverse kinematic methods with an older method for a redundant robot with seven degrees of freedom to determine each method’s strengths and weaknesses. Metrics used for this comparison will include total angle change, maximum single angle change, and computation time. Inverse kinematics methods displayed in this paper are Triangulation, Forward and Backward Reaching Inverse Kinematics (FABRIK), and dual quaternion.
Download or read book Kinematic and Dynamic Analysis of a Hyper redundant Robotic Manipulator with Experimental Verification written by Syed Masrur Ahhmad and published by . This book was released on 2010 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inverse Kinematics Solutions (IKS) as well as control of hyper-redundant robots are being under investigation by the robotics researchers due to the flexibility of configurations in achieving the same goal. End effectors attached at the tip of such robot are capable of reaching targets avoiding obstacles between the base of the robot and location of the target. Such robots can be programmed to continue operations successfully even after mechanical failure of few joints. However, it is very difficult to manage this flexibility due to the involvement of mathematical complexity in determining inverse kinematics of these robots, especially, handling of pseudo inverse of non-square matrices. Various techniques have so far been proposed by the researchers for inverse kinematics of hyper-redundant robots that involve wide range of mathematics including nonlinear optimization, Artificial Neural Network, Fuzzy Logic, etc. Most of these methods are often found to fail due to singular IKS. In this thesis a new technique has been proposed that assumes an initial configuration with a virtual layer. The virtual layer assumes an isosceles triangle formed of two subrobots each consisting of same number of links, and the imaginary line joining the location of the target and the base of the robot. Thus two sides of the isosceles triangle appear in singular configuration. In the successive steps the singularities are removed by first shifting the vertex towards the base of the triangle along the median of the triangle and then adjusting links on both subrobots to assume a coil shape. This ultimately leads to inverse kinematics of the hyper-redundant robot free from any singular configuration. Kinetics analyses are then done based on the IKS and appropriate actuators are selected accordingly. Total energy required to run the robot is found to depend on the selection of the point on the median line and is minimum corresponding to a point close to the base of the triangle. To verify the proposed IKS technique a laboratory scale four link prototype is built. Off-the-shelf servo motors are used as actuators in actuating the joints of the prototype. Results of the experiment show very good agreement with the analyses. Comparison of the proposed technique shows superiority over ANFIS, one of the recent techniques used for IKS of hyper-redundant robots. The proposed IKS technique and control approach is designed for planner robots with even number of links only. To make it generalized it needs to be studied for any number of links as well as robots in 3D space.
Download or read book Advanced Robotics written by Yoshihiko Nakamura and published by Addison Wesley Publishing Company. This book was released on 1991 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Time Optimal Trajectory Planning for Redundant Robots written by Alexander Reiter and published by Springer. This book was released on 2016-03-11 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Download or read book Kinematic Synthesis of Linkages written by Richard Scheunemann Hartenberg and published by . This book was released on 1964 with total page 462 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Minimum Effort Techniques for Inverse Kinematics of Redundant Robot Manipulators written by Ian A. Gravagne and published by . This book was released on 1999 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Advances in Robot Kinematics Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Download or read book Advances in Robot Kinematics 2020 written by Jadran Lenarčič and published by Springer Nature. This book was released on 2020-07-17 with total page 375 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. The book brings together 43 peer-reviewed papers. They report on the latest scientific and applied achievements. The main theme that connects them is the movement of robots in the most diverse areas of application.
Download or read book Closed form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms written by Yuting Wang and published by . This book was released on 2013 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. The objective of this thesis is to solve the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow was used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Using kinematic data recorded from human subjects during every-day life tasks, the linear sensorimotor transformation model was validated and used to estimate the swivel angle, given the desired end-effector position. Defining the desired swivel angle simplifies the kinematic redundancy of the robot arm. The proposed method was tested with an anthropomorphic redundant robot arm and the computed motion profiles were compared to the ones of the human subjects. This thesis shows that the method computes anthropomorphic configurations for the robot arm, even if the robot arm has different link lengths than the human arm and starts its motion at random configurations.
Download or read book Innovative Product Design and Intelligent Manufacturing Systems written by BBVL. Deepak and published by Springer Nature. This book was released on 2020-03-13 with total page 1049 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers selected research articles from the International Conference on Innovative Product Design and Intelligent Manufacturing System (ICIPDIMS 2019), held at the National Institute of Technology, Rourkela, India. The book discusses latest methods and advanced tools from different areas of design and manufacturing technology. The main topics covered include design methodologies, industry 4.0, smart manufacturing, and advances in robotics among others. The contents of this book are useful for academics as well as professionals working in industrial design, mechatronics, robotics, and automation.
Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Download or read book Inverse Kinematics Problem in Robotics Using Neural Networks written by Benjamin B. Choi and published by . This book was released on 1992 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Inverse Kinematics and Design Considerations for Kinematically Redundant Robots written by James Frank Jones and published by . This book was released on 1987 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cable Driven Parallel Robots written by Tobias Bruckmann and published by Springer Science & Business Media. This book was released on 2012-09-09 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Download or read book A New Approach to the Inverse Kinematic Analysis of Redundant Robots written by Partha S. Dutta and published by . This book was released on 1988 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nature Inspired Computing and Optimization written by Srikanta Patnaik and published by Springer. This book was released on 2017-03-07 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book provides readers with a snapshot of the state of the art in the field of nature-inspired computing and its application in optimization. The approach is mainly practice-oriented: each bio-inspired technique or algorithm is introduced together with one of its possible applications. Applications cover a wide range of real-world optimization problems: from feature selection and image enhancement to scheduling and dynamic resource management, from wireless sensor networks and wiring network diagnosis to sports training planning and gene expression, from topology control and morphological filters to nutritional meal design and antenna array design. There are a few theoretical chapters comparing different existing techniques, exploring the advantages of nature-inspired computing over other methods, and investigating the mixing time of genetic algorithms. The book also introduces a wide range of algorithms, including the ant colony optimization, the bat algorithm, genetic algorithms, the collision-based optimization algorithm, the flower pollination algorithm, multi-agent systems and particle swarm optimization. This timely book is intended as a practice-oriented reference guide for students, researchers and professionals.
