Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

Meng, Guang Zhu; Yuan, Guang Ming; Li, Zhe; Zhang, Jun

doi:10.4028/www.scientific.net/amr.712-715.2290

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…Forward kinematics is the basis for the robot to perform various operations. 24,25 In forward kinematics analysis, obtaining the transformation relationship of two adjacent link coordinate systems is essential and it is called as a homogeneous transformation matrix. According to kinematic parameters defined by the standard D-H method, the homogeneous transformation matrix from the i 2 1th coordinate system to the ith coordinate system can be obtained by equation (1).…”

Section: Forward Kinematicsmentioning

confidence: 99%

Kinematic parameters calibration of industrial robot based on RWS-PSO algorithm

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The positioning accuracy of an industrial robot has a significant impact on its application in precision manufacturing, and it is necessary to calibrate robot kinematic parameters. Previous studies have established numerous nonlinear equations to solve the kinematic parameters, which are complicated and time consuming. A standard particle swarm optimization (PSO) algorithm is limited by long running time and low solution efficiency. Therefore, in this study, a dynamic particle swarm optimization algorithm based on roulette wheel selection (RWS-PSO) is proposed to realize the kinematic parameters calibration. First, a kinematics model is constructed using the standard Denavit-Hartenberg (D-H) method, and the theoretical and actual values of the spatial position of the robot endpoint are obtained via forward kinematics and a Laser Tracker, respectively. Next, the kinematic parameters calibration problem is transformed into a solution of a high-dimensional nonlinear equation using the proposed RWS-PSO algorithm. In the proposed RWS-PSO algorithm, the inertia factor is considered as linearly decreasing and the number of particles is selected by the roulette wheel selection (RWS) to improve its computational efficiency. The proposed RWS-PSO and standard PSO algorithms are compared based on various indices by simulation. The results reveal that the time cost of the RWS-PSO algorithm is much lower than that of the standard PSO algorithm on the basis of high precision and a reduced running time of approximately 53%. Finally, the kinematic parameter errors obtained by the two algorithms are compensated. According to the experimental results, the positioning accuracy of the robot in three ( x-, y-, and z-) directions is improved by 78%, 46%, and 67%, respectively, compared to that of before compensation, which proves that the RWS-PSO algorithm is effective and practical for kinematic parameters calibration.

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Section: Forward Kinematicsmentioning

confidence: 99%

Kinematic parameters calibration of industrial robot based on RWS-PSO algorithm

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…This paper presents a control method for trunk-type robots that are more dedicated to tasks requiring robot end-effector spatial control while holding the end-effector position as close as possible to the target. For instance, the authors state that such a concept has the potential to apply continuum robots that are used in urban search and rescue tasks [7], bomb disposal [8], and inspection and repair of aero-engines [9,10]. Continuum robot flexibility and mobility features encourage scientists to look for new kinds of robot-type structure designs and control to adapt robots to other applications.…”

Section: Introductionmentioning

confidence: 99%

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

et al. 2021

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This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.

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Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical

Zhang

et al. 2022

2022 International Conference on Advanced Robotics and Mechatronics (ICARM)

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Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

Cited by 5 publications

References 8 publications

Kinematic parameters calibration of industrial robot based on RWS-PSO algorithm

Kinematic parameters calibration of industrial robot based on RWS-PSO algorithm

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical

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