A novel inverse kinematics method for 6-DOF robots with non-spherical wrist

Li, Jing; Yu, Huapeng; Shen, Nanyan; Zhong, Zhen; Lu, YiHao; Fan, Jiangchuan

doi:10.1016/j.mechmachtheory.2020.104180

Cited by 24 publications

(12 citation statements)

References 14 publications

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“…Cutter changing robot belongs to jointed serial robot. scholars have studied the cutter change trajectory planning based on forward and inverse kinematics analysis, where forward kinematics is applied to determine the joint positions and get the gesture and position of the actuator, and inverse kinematics refers to how to determine the corresponding joint positions when the robot reaches the expected position [16][17][18]. Xie designed an 8-DOF tunnel shotcrete manipulator, introducing virtual joint and DH method to establish the kinematics model of the robot, and carried out the optimal spraying trajectory planning [19].…”

Section: Fig 1 Manual Cutter Changing Processmentioning

confidence: 99%

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Yang

Zeng

Ren

et al. 2023

mech

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Aiming at solving the problems of huge cost, long cycle and high risky during manual cutter changing process for shield machine, a cutter changing robot was designed to adapt to its narrow and complex space, the workspace and motion path of cutter changing robot arm were studied. Firstly, by analyzing the internal space and cutter layout characteristic, the configuration of the robot arm was proposed, and the dimension of each rod was designed using multi-objective optimization method. The kinematic model of the robot arm was established by using the D-H model method to analyze its reachable working space. While the inverse kinematic model of the robot arm was solved by the Newton-Raphson iterative method to complete the trajectory planning of the arm for all cutter locations, where the relationship between the target position and the joint variables was established. The motion stability of the robot was verified by virtual simulation and test. The results show that the working space of the designed robot arm meets the cutter changing requirements that all the cutter position can be reached. Moreover, the power output of the drive is smooth, which can transport the cutter weighing up to 250kg.

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Section: Fig 1 Manual Cutter Changing Processmentioning

confidence: 99%

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Yang

Zeng

Ren

et al. 2023

mech

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show abstract

“…Among them, a i , d i , α i are the fixed parameters of the rotary joint robot, and θ i is the control parameter. This paper takes the IRB5400 robot with a 7R 6DOF structure as an example, and its D - H parameters are shown in Table 23 [ 75 ].…”

Section: Gmo Algorithm For Inverse Kinematics Solutionmentioning

confidence: 99%

Wild Geese Migration Optimization Algorithm: A New Meta-Heuristic Algorithm for Solving Inverse Kinematics of Robot

Zhang

Song

et al. 2022

Computational Intelligence and Neuroscience

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This paper proposes a new meta-heuristic algorithm, named wild geese migration optimization (GMO) algorithm. It is inspired by the social behavior of wild geese swarming in nature. They maintain a special formation for long-distance migration in small groups for survival and reproduction. The mathematical model is established based on these social behaviors to solve optimization problems. Meanwhile, the performance of the GMO algorithm is tested on the stable benchmark function of CEC2017, and its potential for dealing with practical problems is studied in five engineering design problems and the inverse kinematics solution of robot. The test results show that the GMO algorithm has excellent computational performance compared to other algorithms. The practical application results show that the GMO algorithm has strong applicability, more accurate optimization results, and more competitiveness in challenging problems with unknown search space, compared with well-known algorithms in the literature. The proposal of GMO algorithm enriches the team of swarm intelligence optimization algorithms and also provides a new solution for solving engineering design problems and inverse kinematics of robots.

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“…Metin Toz [22] proposed a meta-heuristic optimization algorithm, but solving the IK problem of serial robot manipulators with offset wrists is just one of the applications of the method without detailed discussion of the IK problem. Li et al [24] came up with a novel IK method for 6-DOF robots with nonspherical wrist inspired by the idea of virtual wrist center and implement a comparative study with the NR method.…”

Section: Introductionmentioning

confidence: 99%

An improved inverse kinematics solution for 6-DOF robot manipulators with offset wrists

Zhou

Xian²,

Chen³

et al. 2022

Robotica

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Efficiently solving inverse kinematics (IK) of robot manipulators with offset wrists remains a challenge in robotics due to noncompliance with Pieper criteria. In this paper, an improved method to solve the IK for 6-DOF robot manipulators with offset wrists is proposed. This method is based on the Newton iteration technique, but it does not require a selection of initial estimation of joint variables. The solution is divided into two parts: the first part is to reconstruct a simplified structure with analytical IK solution, and the second part is to obtain a numerical solution by iteration. Further, a robot manipulator HSR-BR606 with an offset wrist is used as an example to specifically elaborate the mathematical procedure of the method and to investigate the algorithm in terms of accuracy, efficiency, and application of motion planning. A comparative experiment is conducted with a typical IK algorithm, which demonstrates a higher accuracy and shorter calculation time of the proposed method. The mean calculation time for a single IK solution required for this algorithm is only 4% of the comparison algorithm.

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A novel inverse kinematics method for 6-DOF robots with non-spherical wrist

Cited by 24 publications

References 14 publications

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Wild Geese Migration Optimization Algorithm: A New Meta-Heuristic Algorithm for Solving Inverse Kinematics of Robot

An improved inverse kinematics solution for 6-DOF robot manipulators with offset wrists

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