A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Bjørlykhaug, Emil

doi:10.3390/robotics7010007

Cited by 9 publications

(6 citation statements)

References 31 publications

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“…where α o , β o , and c o , as shown in Figure 4, represent the desired orientation of the object and i � 1 and 2 represents the robot i on the left (i �1) and the right (i � 2) of the object. Finally, the Cartesian space coordinate x r,i can be reached through CLIK [37][38][39][40]. From Figure 1, we can see that we need to derive desired joint position q d,i based on the information of the robot's current state (q i , and x i ) and the target EE position x r,i .…”

Section: Ee Pose Assignment and Clik Algorithmmentioning

confidence: 99%

“…Hence, position mapping from the task space to the joint space should be calculated. In this regard, the closed-loop inverse kinematics (CLIK), which has been studied for decades [37][38][39][40], is a sophisticated algorithm to obtain joint positions in real time and becomes our option in this paper. In the latter sections, we are going to introduce these two supplementary approaches to make our proposed bimanual robotic system complete.…”

Section: Introductionmentioning

confidence: 99%

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Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object

2020

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Bimanual robots have been studied for decades and regulation on internal force of the being held object by two manipulators becomes a research interest in recent years. In this paper, based on impedance model, a method to obtain the optimal target position for bimanual robots to hold an object is proposed. We introduce a cost function combining the errors of the force and the position and manage to minimize its value to gain the optimal coordinates for the robot end effectors (EE). To implement this method, two necessary algorithms are presented, which are the closed-loop inverse kinematics (CLIK) method to work out joint positions from desired EE pose and the generalized-momentum-based external force observer to measure the subjected force acting on the EE so as to properly compensate for the joint torques. To verify the effectiveness, practicality, and adaptivity of the proposed scheme, in the simulation, a bimanual robot system with three degrees of freedom (DOF) in every manipulator was constructed and employed to hold an object, where the results are satisfactory.

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Section: Ee Pose Assignment and Clik Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object

2020

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“…In practice these parameters are often empirically tuned. Bjoerlykhaug [12] proposes the use of a genetic algorithm for optimizing the feedback gain used in CLIK solvers, in order to minimize iteration cycles and maximize accuracy. In an experimental evaluation, he achieved a 50% decrease in computation time through his feedback gain tuning.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…Unlike numerical IK solvers that approximate the inverse mapping iteratively [42], or CLIK solvers [10][11][12] that converge to the solution from a control point of view, the analytical nature of our closed-form task space manipulability expression delivers exact results in a single iteration.…”

Section: Accuracymentioning

confidence: 99%

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Huber

Wollherr

2019

Robotics

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With the increasing demand for robots to react and adapt to unforeseen events, it is essential that a robot preserves agility at all times. While manipulability is a common measure to quantify agility at a given joint configuration, an efficient direct evaluation in task space is usually not possible with conventional methods, especially for redundant robots with an infinite number of Inverse Kinematic solutions. Yet, this is essential for global online optimization of a robot posture. In this work, we derive analytical expressions for a conventional 7-degrees of freedom (7-DOF) serial robot structure, which enable the direct evaluation of manipulability from a reduced task space parametrization. The resulting expressions allow array operation and thus achieve very high computational efficiency with vector-optimized programming languages. This direct and simultaneous calculation of the task space manipulability for large numbers of poses benefits many optimization problems in robotic applications. We show applications in global optimization of robot mounting poses, as well as redundancy resolution with global online optimization w.r.t. manipulability.

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“…A schematic detailing the control system approach is shown in Figure 9. For a more thorough explanation of the trajectory generator, we refer to Bjørlykhaug (2018).…”

Section: Control Systemmentioning

confidence: 99%

Experimental study of effectiveness of robotic cleaning for fish-processing plants

et al. 2019

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This paper presents the development and experimental testing of the effectiveness of a robotic cleaning system for fish processing plants. The processing of fish introduces a substantial risk of bacterial contamination, which can cause the spoilage of fish and pose a threat to consumers' health. Good operational hygiene and precautions, in addition to regular cleaning of the processing plants, are necessary for the reduction of the risk of contamination. The state-of-the art cleaning techniques currently include manual cleaning operations of fish processing plants. The experiments of robotic cleaning presented in this paper were performed in two rounds. First, a test using a conventional low-cost industrial robot mounted on a vertical linear axis was used. As the results from this test seemed promising, a second robotic system was built aiming at a more industrialized version. This system consisted of a serial manipulator, tailored for the task, mounted on a horizontal transportation system, and a comparison was conducted between the cleaning performed by human operators and that performed by the robotic system. An electrical stunner with a connected conveyor belt, which is a typical installation for salmon processing plants, was experimentally inoculated with a cocktail of fish-spoilage bacteria that were allowed to develop a biofilm. Back-to-back cleaning trials with biofilms of Pseudomonas fluorescens, Pseudomonas putida, and Photobacterium phosphoreum confirmed that the industrialized robotic prototype performed equally well or better than the conventional manual cleaning procedure currently used in the industry. The results demonstrate that a robotic system can deliver satisfactory results in the cleaning of fish processing plants, thereby minimizing the potential for the spread of contamination. The proposed robotic concept allows for an automated cleaning system, reduced human labor, increased profitability for the industry, and better stability of the cleaning process.

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A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Cited by 9 publications

References 31 publications

Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object

Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Experimental study of effectiveness of robotic cleaning for fish-processing plants

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