Closed form solution for direct and inverse kinematics of a US-RS-RPS 2-DOF parallel robot

Sanjuan, Javier; Serje, David; Pacheco, Jovanny

doi:10.24200/sci.2017.4341

Cited by 4 publications

(4 citation statements)

References 22 publications

(24 reference statements)

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“…Completely constrained finger mechanisms are devices with a DOF equivalent to their number of actuators, which allows the trajectory of the tip of the finger to follow a predefined path. Note that the number of DOF is computed using the Gruebler-Kutzbach [77] equation presented below:…”

Section: Completely Constrained Gripper Mechanismmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

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Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.

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Section: Completely Constrained Gripper Mechanismmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

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“…The use of pseudo-inverse methods in rehabilitation robotics is often criticized for 1) providing multiple solutions, 2) generating unnatural postures, and 3) lack of solution when the Jacobian matrix is singular. Therefore, there is an inclination toward closed-form solutions for rehabilitative applications [72]; for example, see [73][74][75][76][77][78][79][80]. While these analytical models provide reliable IK solutions for rehabilitation purposes, they cannot be used to measure the quality of the motion or to explain human kinematic data and its variability; e.g., individual differences or the evolution of the subject's performance in the course of the therapy.…”

Section: The Applications Of Weighted Inverse Kinematics In Assistive...mentioning

confidence: 99%

Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity

et al. 2022

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Understanding and quantifying inter-joint coordination is valuable in several domains such as neurorehabilitation, robot-assisted therapy, robotic prosthetic arms, and control of supernumerary arms. Inter-joint coordination is often understood as a consistent spatiotemporal relation among kinematically redundant joints performing functional and goal-oriented movements. However, most approaches in the literature to investigate inter-joint coordination are limited to analysis of the end-point trajectory or correlation analysis of the joint rotations without considering the underlying task; e.g., creating a desirable hand movement toward a goal as in reaching motions. This work goes beyond this limitation by taking a model-based approach to quantifying inter-joint coordination. More specifically, we use the weighted pseudo-inverse of the Jacobian matrix and its associated null-space to explain the human kinematics in reaching tasks. We propose a novel algorithm to estimate such Inverse Kinematics weights from observed kinematic data. These estimated weights serve as a quantification for spatial inter-joint coordination; i.e., how costly a redundant joint is in its contribution to creating an end-effector velocity. We apply our estimation algorithm to datasets obtained from two different experiments. In the first experiment, the estimated Inverse Kinematics weights pinpoint how individuals change their Inverse Kinematics strategy when exposed to the viscous field wearing an exoskeleton. The second experiment shows how the resulting Inverse Kinematics weights can quantify a robotic prosthetic arm’s contribution (or the level of assistance).

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“…This time-consuming process is hard to be used in the controller to real-time compute the position of the end-effector for online monitoring. The numerical methods [32,33] find approximate solutions iteratively, which are close to the initial estimations, and it searches only one angle solution. Numerical solvers usually do not return all the solutions.…”

Section: Introductionmentioning

confidence: 99%

A fast task planning system for 6R articulated robots based on inverse kinematics

Lai

2023

Int J Adv Manuf Technol

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Robots bring eventful impacts to the workplace, benefiting from the advantages of implementing any technology should be based on the premise of safety. This work proposes a systematic method to establish a postprocessor module for any specified 6R articulated robot. Instead of obsessively emphasizing achieving the desired locations and orientations by hand guiding grab and dragging a robotic arm for operation in teaching mode, the significant end-effector poses are calculated to form a new path for the joints efficiently in this study. Since robotic motion control is usually a complex system whose users must be well trained and acquainted with using them. There is a need for a GUI solution that can provide intuitive robotic motion control on the current location by the user independently, easy setup, arrangement, adjustment, and monitoring robot motion tasks. The proposed system simplifies the interaction between the technician and the industrial robotic arm in the case of robotic motion control and tracking at a distant location. The presented method is fully adapted to alternate between joint angles and end-effector poses on a graphic user interface system. After developing the capabilities of the solver, a functional postprocessor is programmed inside the proposed GUI system. Examples with specified posture and predefined movements are demonstrated for corroborating the algorithm. The results show considerable efficiency and reliability in task planning and are fully supported for automatic path generation.

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Closed form solution for direct and inverse kinematics of a US-RS-RPS 2-DOF parallel robot

Cited by 4 publications

References 22 publications

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity

A fast task planning system for 6R articulated robots based on inverse kinematics

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