A Complete Closed-Form Solution to the Inverse Kinematics Problem for the P2Arm Manipulator Robot

Ramírez-Torres, José Gabriel; Toscano-Pulido, Gregorio; Ramirez-Saldivar, Apolinar; Hernández-Ramírez, Arturo

doi:10.1109/cerma.2010.50

Cited by 3 publications

(6 citation statements)

References 4 publications

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“…Ramirez and Toscano [1] proposed a closed-form solution to the inverse kinematic of a 5 DOF manipulator robot defining the existence conditions for all the possible solutions and the singular configurations were identified. The proposed method uses the desired position of the center of the gripper as well the direction of the gripper's main axis.…”

Section: A Algebraic Methods (Am)mentioning

confidence: 99%

“…The inverse kinematics problem is to find the angular position of the robot joints which can achieve some expected position and orientation of the end effector that allows the robot to execute the required task. The angular position of the robot joints is required to transform a motion so that the robot can perform some given tasks such as peg-hole insertion, parts mating and manufacturing assembly operation which are very common in day-to-day industry operation [1].…”

Section: Introductionmentioning

confidence: 99%

“…This kind of robot manipulator are widely used in different industrial applications such as peg-hole insertion tasks, complex manipulations, obstacle avoidance and assistance tasks like serving drink to the users [3]. Though there are few closed form solutions using algebraic method [1], [4], [5] for inverse kinematics of Crustcrawler AX-18 robot manipulator, however it does not always guarantee to provide the admissible solutions. To demonstrate this phenomenon, we conducted a simulation experiment using P. Corke's matlab toolbox [6] with a four link robot manipulator with four degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

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A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics

Buendía-Rodríguez¹,

Cimat²,

Saha³

et al. 2016

IJCSE

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This paper presents the robot inverse kinematics solution for four Degrees of Freedom (DOF) through Differential Evolution (DE) algorithm. DE can handle real numbers (float, double) which leads more powerful than Genetic Algorithm (GA). We propose a multi-objective fitness function that makes an attempt to minimize the positional error and maximum angular displacement of the robot joints. Maximum angular displacement based fitness function adopt the constraints on different unrealistic rotational movement of the manipulator. We employ an equitable treatment of both fitness functions while maximizing these two over generations that iteratively selects the optimal weights of these two fitness functions automatically. Trigonometric mutation and binomial crossover improve the performance of the conventional DE technique. We compared the results of proposed multi-objective DE with GA and Algebraic Method (AM). Proposed multi-objective DE algorithm obtains less positional error than conventional DE, GA and AM while meeting the rotational constraints of the manipulator's joints.

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Section: A Algebraic Methods (Am)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics

Buendía-Rodríguez¹,

Cimat²,

Saha³

et al. 2016

IJCSE

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“…In the latter approach, for example, refs. [7,8,18], a virtual or hypothetical joint is added to the manipulator, and the six simultaneous equations are solved.…”

Section: Analytical Inverse Kinematics For 5-dof Humanoid Manipulatormentioning

confidence: 99%

“…For the Pioneer 2 arm, several researchers have tackled to obtain closedform solutions and to identify singular configurations. 16,17,18 Wang and Ishimatsu 19 analyzed the kinematics of a 5-DOF prosthetic arm that has a special shoulder mechanism. Wang 20 analytically solved the inverse kinematics of a 5-DOF arm attached to an amusement robot to identify the reachable position and orientation of the arm 1 .…”

mentioning

confidence: 99%

Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Shimizu

2014

Robotica

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SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

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