Inverse Kinematics Solution for a Robotic Arm Through Geometric and Iterative Fusion Based Modelling
01 Aug 2019-Vol. 2019, pp 1-7
TL;DR: The paper aims at establishing a bargain between geometric method complexities and iterative method computational load to find inverse kinematics solutions to a 4 Degree of Freedom (DOF) robotic arm.
Abstract: Every robotic arm has a specific work envelope and a predefined trajectory that it must follow to complete any task. Geometric calculation for determining joint angles and velocity involves complex trigonometric calculations and derivations which are not simple enough to actuate in a control software. Many times, geometric calculation also tend to become unsolvable due to complex work envelopes. Though iterative algorithms provide generalized solution to every serial link manipulator possible, it is computationally very expensive. If the number of nodes is large, this further aggravates the situation. The paper focuses on the methodology to combine iterative and geometrical methods to find inverse kinematics solutions to a 4 Degree of Freedom (DOF) robotic arm. Thus, the paper aims at establishing a bargain between geometric method complexities and iterative method computational load. Iterative method is employed for certain links and geometry is applied for rest of the links to achieve the desired end location with minimum error possible while adhering to the constraints of the work envelope.
Citations
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24 Sep 2021
TL;DR: In this paper, an improved Particle Swarm Optimization (PSO) is employed to solve the inverse solution of dual-arm manipulators with six-degrees-of-freedom.
Abstract: Precise inverse solution is very important for control of the dual-arm robots. In this paper, an improved Particle Swarm Optimization (PSO) is employed to solve the inverse solution of dual-arm manipulators with six-degrees-of-freedom. The new method mainly includes three steps such as chaos initialization, improvement of the inertia weight and particle variation. Firstly, the diversified distribution of particles is performed through chaotic initialization. Secondly, through the improvement of the inertia weight, the diversification of the particle swarm is further expanded. Finally, particle variation is performed to obtain the inverse kinematics solution. Compared with the standard PSO, PSO1, and PSO2, the proposed PSO can raise the accuracy of the inverse solution of the manipulator. The main reason is that the proposed PSO enhances the diversity of particles. The simulation results can verify the effectiveness of the proposed method in this paper.
References
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01 Jan 2005
TL;DR: The Denavit-Hartenberg conventions model chains of bodies connected by joints and have been applied to single-loop chains but are now almost universally applied to open-loop serial chains such as robotic manipulators as discussed by the authors.
Abstract: The Denavit-Hartenberg conventions model chains of bodies connected by joints. Originally they were applied to single-loop chains but are now almost universally applied to open-loop serial chains such as robotic manipulators. Unfortunately there are several popular variations of the notation: the original, the distal variant, and the proximal variant. These three cases are compared for their application to serial robots. The proximal variate is advanced as the most notationally transparent for the mechanical analysis of serial manipulators.Copyright © 2005 by ASME
45 citations
"Inverse Kinematics Solution for a R..." refers methods in this paper
...Forward Kinematics (FK) in Link Design The kinematic model of the robotic arm has been designed using the Denavit Hartenberg (DH) method [8-11]....
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20 May 2015
TL;DR: In this article, the kinematics model of an RA-02 (a 4 DOF) robotic arm is presented using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory.
Abstract: This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.
39 citations
"Inverse Kinematics Solution for a R..." refers methods in this paper
...The former uses known joint variables to calculate end effector position and orientation, while the latter uses the end effector configuration to determine joint variables of the robotic arm [2][3]....
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TL;DR: A geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm is presented and provides the capability of local autonomy to a system which is very difficult to manually control.
Abstract: This paper presents a geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm. A plethora of complex mathematical processes is reduced using basic trigonometric in the modeling of the robotic arm. This modeling and analysis approach is tested using a five-degree-of-freedom arm with a gripper style end effector mounted to an iRobot Create mobile platform. The geometric method is easily modifiable for similar robotic system architectures and provides the capability of local autonomy to a system which is very difficult to manually control.
36 citations
"Inverse Kinematics Solution for a R..." refers methods in this paper
...Though, geometric method performs quite well in standard arm structure, it fails to provide a generalized solution, while becoming more and more complex as the degree of freedom increases [5][6]....
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TL;DR: In this article, the authors used singular value decomposition (SVD) to determine the Denavit-Hartenberg (DH) parameters of a serial robot, which are typically used to represent its architecture, are usually provided by its manufacturer.
Abstract: Kinematic identification of a serial robot has been an active field of research as the need for improving the accuracy of a robot is increasing with time. Denavit-Hartenberg (DH) parameters of a serial robot, which are typically used to represent its architecture, are usually provided by its manufacturer. At times these parameters are not the same and hence they need to be identified. An analytical method proposed elsewhere was used here for identification of an industrial robot by noting the values of the point on the end-effector due to rotation of each joint, locking all other joints, were found out using singular value decomposition. The DH parameters of the robot determined using the proposed methodology, matched satisfactorily with the robot specifications. Also, the bounding volume for the joint ranges infers that a smaller measurement volume relative to the robot workspace is required thus facilitating the use of measurement devices which have smaller range of measurement.
22 citations
01 Jan 2012
TL;DR: A novel analytic method is proposed to extract DH parameters of a robot manipulator recursively from base link to the end-effector using the concepts of Plucker coordinates and Dual Vector Algebra.
Abstract: Serial manipulators/robots are used extensively in industries to perform various tasks such as pick-andplace operation, painting, arc-welding, assembly of components etc. To perform tasks accurately, exact kinematic parameters of the manipulator are required. Note that these parameters are generally represented using the well-known Denavit-Hartenberg (DH) parameters. Typically, a set of nominal DH parameters are provided by the robot manufacturers, which may not be exact due to assembly errors etc. Hence, there is a need to know them exactly. In this paper, a novel analytic method is proposed to extract DH parameters of a robot manipulator. For this, each joint axis of a manipulator consisting of a direction and a point on it are provided as input to the proposed algorithm. The exact DH parameters are then extracted recursively from base link to the end-effector using the concepts of Plucker coordinates and Dual Vector Algebra. The algorithm has been implemented as an addin/plugin inside Autdoesk Inventor CAD software, which determines the DH parameters of a serial manipulator from its CAD model.
22 citations
"Inverse Kinematics Solution for a R..." refers methods in this paper
...Forward Kinematics (FK) in Link Design The kinematic model of the robotic arm has been designed using the Denavit Hartenberg (DH) method [8-11]....
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