Efficient closed-form solution of inverse kinematics for a specific six-DOF arm

Jin

Iran. J. Sci. Technol. Trans. Mech. Eng.

2016

Multi-legged robot often needs to change its body position and orientation in order to walk over different terrain. A useful position-orientation adjustment algorithm is needed to meet the goal. This paper focuses on position-orientation adjustment algorithm of a sixlegged robot which is used to calculate the joint angles when the foothold positions, the center of six-legged robot body and the six-legged robot's orientation are given. Sixlegged robot can move to target position and orientation according to joint angles got by the position-orientation adjustment algorithm. A new approach based on geometry structure is proposed to solve inverse kinematics of the six-legged robot. Furthermore, the inverse kinematics method is used in the position-orientation adjustment algorithm. In addition, a linear tracking simulation is conducted by MATLAB and ADAMS to evaluate the performance of the position-orientation adjustment algorithm, and experiments are done on the six-legged robot to demonstrate the validity of the position-orientation adjustment algorithm.

Section: Inverse Kinematics Of Six-legged Robot Based On Geometry Strmentioning

confidence: 99%

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

Jin

Iran. J. Sci. Technol. Trans. Mech. Eng.

2016

Int. J. Control Autom. Syst.

“…There have been many different approaches in kinematic analysis, such as product of exponential (POE) [2] and screw theory [3]. Many studies are being done to improve the cost of computation or generality of the theories [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

A new instantaneous center analysis methodology for planar closed chains via graphical representation

Kim

Han²,

Seo

et al. 2016

Instantaneous center (IC) analysis of a mechanism is very important in mechanism analysis, since the analysis gives intuition about the global movement of the mechanism, and the analysis also makes the numerical analysis of velocities faster. Previous IC analysis methods have used geometrical information from the mechanism configuration. Such methods have disadvantages of complexity in calculation and difficulty determining the direction of linkage movement due to geometric complexity. This research suggests a new IC analysis method for planar closed chains. The proposed method determines the IC simply from the relation between joint velocities based on graphical representation. Twists in screw theory are used to define the joint velocities in a closed chain and also to calculate the IC. Three different kinds of mechanisms are analyzed by the method: a four-bar mechanism, slidercrank mechanism, and a multiple closed-chain mechanism composed of four-bar and slider-crank mechanisms. The analysis methodology can be applied to calculate the ICs of various planar closed chains.

Int. J. Control Autom. Syst.

“…Generally, analytical approaches, which yield complete, accurate and fast solutions, are preferable to numerical ones that are usually used to gain the approximate solutions by convergent iteration [9]. Different from the above commonly used methods, a mixed numerical-analytical approach is proposed in [10] to approximate the IK solutions, product-of-exponentials (PoE) formulas [11][12][13], vector dot product operations [14][15][16][17][18] and double quaternions [19,20] are involved to simplify the IK solving processes.…”

Section: Introductionmentioning

confidence: 99%

Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry

Liu

Zhang

Zhu

2015

In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes.