Dynamic Analysis of a 7 DOF Robot Using Fuzzy Logic for Inverse Kinematics Problem

Crenganiș, Mihai; Tera, Melania; Biriș, Cristina; Gîrjob, Claudia

doi:10.1016/j.procs.2019.11.288

Cited by 17 publications

(9 citation statements)

References 6 publications

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“…This can be done by several methods. Among the most commonly used navigation methods are: measuring the number of rotations made by the drive wheels, the use of accelerators and gyroscopes, electromagnetic beacons installed in the field, passive or semi-passive signals of an optical or magnetic type [5][6][7][8].…”

Section: Mobile Robotsmentioning

confidence: 99%

“…This problem occurs since the wheel generates much more frictional forces, mainly when rotated about the vertical axis rather than when rotated about the central axis. The problem can be reduced by using the dual wheel system similar to the one used at the front landing gear of the aircraft [7][8].…”

Section: Conventional Wheelmentioning

confidence: 99%

“…The locomotion principle for this robot is presented in Figure 4. [7][8][9][10][11]. One can observe that the roller axes make an angle of inclination with the plane of the wheel of 45 °.…”

Section: Mecanum Wheelmentioning

confidence: 99%

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Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021

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This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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Section: Mobile Robotsmentioning

confidence: 99%

Section: Conventional Wheelmentioning

confidence: 99%

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Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021

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“…Kinematics deals with determining the main parameters that define the motion of a body. In this sense, various methods have been developed with which to determine the equations of positions, the distribution of speeds and the distribution of accelerations for any element in the structure of a kinematic chain [5][6][7][8][9]. Within the robot kinematics, two fundamental types of problems can be distinguished: direct kinematic problem and inverse kinematic problem.…”

Section: Kinematics Of Industrial Manipulators and Robotsmentioning

confidence: 99%

Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

et al. 2021

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In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

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“…If we relate to the technical equipment, the major research in this area has been done on 3-axis CNC milling machines, where the metal sheet in formed only on three directions, due to the less degree of freedom (DOF) compared with 5-axis CNC machines or industrial robots. Compared with other types of equipment, the 3-axis CNC milling machines are used in large number on SPIF [13][14][15][16]. The major drawback of this equipment is given by the limitation of the working area.…”

Section: Fig 1 Spif Process Principlementioning

confidence: 99%

Incremental forming using KUKA KR210-2 industrial robot - research regarding design rules and process modelling

2021

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Incremental sheet forming (ISF) process show a great potential in the manufacturing of small series production or prototype development parts. One of the sheet metal forming process, where the contact between punch and metal sheet is in a single point, is known as single point incremental forming (SPIF). The part is manufacture with a simple tool, known as punch, that performs a series of combined movements on the vertically and horizontally directions. The paper introduces a study regarding the design rules and process modelling of this unconventional process, by means of a KUKA KR210-2 industrial robot as technological equipment able to control the correlated movement of the punch. Supplementary, the design of the experimental layout, the process simulations and the singularity problems are considered.

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Dynamic Analysis of a 7 DOF Robot Using Fuzzy Logic for Inverse Kinematics Problem

Cited by 17 publications

References 6 publications

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

Incremental forming using KUKA KR210-2 industrial robot - research regarding design rules and process modelling

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