Forward Kinematics Analysis of 6-DoF Articulated Robot using Screw Theory and Geometric Algebra

Medrano-Hermosillo, Jesus A.; Lozoya-Ponce, Ricardo Eliú; Ramírez-Quintana, Juan A.; Baray-Arana, Rogelio

doi:10.1109/comrob57154.2022.9962312

Cited by 4 publications

(5 citation statements)

References 12 publications

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“…Indeed, papers providing description of robotic motion planning are, e.g. Jesús Medrano-Hermosilo et al 95 for 6-DOF serial robot's forward kinematics, or Edgar Macias-Garcia et al 96 solving the inverse position kinematics for 𝑛-degrees-of-freedom kinematic chains with revolving joints and, similarly, Lechuga-Gutierrez et al 97 present a set of generalized iterative algorithms for these mechanisms. A planar three-revolute (3R) serial chain motion generation by establishing the relative kinematics model based on CGA is introduced in Lei Wang et al 98 .…”

Section: Ga For Control and Roboticsmentioning

confidence: 99%

Survey of New Applications of Geometric Algebra

Hitzer¹,

Kamarianakis

Papagiannakis

et al. 2023

Preprint

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This survey introduces 101 new publications on applications of Clifford’s geometric algebras (GA) newly published during 2022 (until mid-January 2023). The selection of papers is based on a comprehensive search with Dimensions.ai, followed by detailed screening and clustering. Readers will learn about the use of GA for mathematics, computation, surface representations, geometry, image- and signal processing, computing and software, quantum computing, data processing, neural networks, medical science, physics, electric engineering, control and robotics.

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Section: Ga For Control and Roboticsmentioning

confidence: 99%

Survey of New Applications of Geometric Algebra

Hitzer¹,

Kamarianakis

Papagiannakis

et al. 2023

Preprint

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“…Terdapat berbagai cara untuk menurunkan model kinematika, beberapa di antaranya adalah dengan menggunakan representasi Screw Theory [10]- [11], metode Dual Quaternion [12]- [13], pendekatan Geometri [14]- [15], dan dua yang paling sering digunakan adalah parameter Denavit-Hartenberg (DH) [16]- [18] dan pendekatan matriks transformasi homogen [19]- [20]. Pada pendekatan matriks transformasi homogen, beberapa matriks rotasi dan matriks translasi yang tersusun dari frame koordinat pangkal ke frame koordinat tujuan dikalikan untuk mendapatkan model kinematika maju.…”

Section: Gambar 1 Tangan Robotik Berjari 4 Yang Digunakan Pada Robot ...unclassified

“…Gambar 7. dan Gambar 8. menggambarkan desain kinematika tangan robot diusulkan, serta Tabel 2, 3 dan 4 menampilkan konfigurasi sendi dan end-of-effector setiap jari. 8), ( 9), (10), dan (11)…”

Section: Model Kinematika Tangan 4 Jari Dengan Menggunakan Pendekatan...unclassified

Analisis Kinematika Maju dari Tangan Robotik Berjari 4 yang Digunakan pada Robot Humanoid T-FLoW

Apriandy,

Dewantara,

Dewanto

et al. 2023

ijcs

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Model kinematika merupakan bagian penting dalam pengembangan robot humanoid karena dapat merepresentasikan karakteristik dari robot, membuat pemahaman tentang robot menjadi lebih mudah. Mengingat perkembangan robot humanoid T-FLoW yang saat ini dilengkapi dengan sepasang tangan baru, maka perlu dibangun model kinematika untuk memahami lebih lanjut tentang tangan robot baru tersebut. Oleh karena itu, dalam pekerjaan ini, disajikan sebuah analisis kinematika maju untuk memperoleh model kinematika dari tangan berjari 4 baru robot humanoid T-FLoW. Dengan menggunakan pendekatan matriks transformasi homogen, model kinematika tangan robot diturunkan berdasarkan perkalian beberapa matriks rotasi dan matriks translasi yang tersusun dari frame koordinat pangkal ke frame koordinat tujuan. Model kinematika yang diturunkan disimulasikan dalam tugas gerak dasar tangan: menggenggam sebuah benda, dihitung dengan bantuan MATLAB, dan divisualisasikan menggunakan fitur plot 3D MATLAB. Hasil menunjukkan bahwa model tersebut memberikan berbagai karakteristik tangan robot seperti konfigurasi, posisi sendi, dan posisi end-of-effector, yang kemudian dapat divisualisasikan menjadi kerangka tangan. Kedepannya, pekerjaan kami dapat memfasilitasi pengembang T-FLoW dalam membangun pergerakan tangan dengan sistem umpan balik, yang kemudian dapat digunakan untuk menyelesaikan berbagai permasalahan desain gerakan tangan. Kinematics models are important part of humanoid robot development as they can represent the characteristics of the robot, making understanding the robot easier. Given the development of the T-FLoW humanoid robot which is currently equipped with a new pair of hands, it is necessary to build a kinematics model to understand more about the new robot hands. Therefore, in this work, a forward kinematics analysis is presented to derive the kinematics model of the new 4-fingered T-FLoW humanoid robot hand. Using a homogeneous transformation matrix approach, the kinematics model of the robot hand is derived based on the multiplication of several rotation and translation matrices arranged from the base coordinate frame to the goal coordinate frame. The derived kinematics model is simulated in a basic hand motion task: grasping an object, calculated with the help of MATLAB, and visualized using MATLAB's 3D plot feature. The results show that the model provide various characteristics of the robot hand such as configuration, joint positions, and end-of-effector positions, which then be visualized into a hand skeleton. In the future, our work can facilitate T-FLoW developers in building hand movement and feedback systems, which then can be used to solve various hand motion design problems.

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“…In robotics, several works using screw theory have gained prominence in recent years. For example, diverse authors propose the screw theory approach in the process of inverse and/or forward kinematics [19][20][21][22]. Other relevant techniques are described below.…”

Section: Introductionmentioning

confidence: 99%

“…It is well known that with the traditional method, it is possible to have multiple results (this is due to the D-H technique). The above could be a risk of confusion by different designers [20].…”

Section: Introductionmentioning

confidence: 99%

Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

Medrano-Hermosillo¹,

Lozoya-Ponce²,

Rodríguez-Mata³

et al. 2023

Mathematics

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The following paper talks about the dynamic modeling and control of robot manipulators using Hamilton’s equations in the screw theory framework. The difference between the proposed work with diverse methods in the literature is the ease of obtaining the laws of control directly with screws and co-screws, which is considered modern robotics by diverse authors. In addition, geometric algebra (GA) is introduced as a simple and iterative tool to obtain screws and co-screws. On the other hand, such as the controllers, the Hamiltonian equations of motion (in the phase space) are developed using co-screws and screws, which is a novel approach to compute the dynamic equations for robots. Regarding the controllers, two laws of control are designed to ensure the error’s convergence to zero. The controllers are computed using the traditional feedback linearization and the sliding mode control theory. The first one is easy to program and the second theory provides robustness for matched disturbances. On the other hand, to prove the stability of the closed loop system, different Lyapunov functions are computed with co-screws and screws to guarantee its convergence to zero. Finally, diverse simulations are illustrated to show a comparison of the designed controllers with the most famous approaches.

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Forward Kinematics Analysis of 6-DoF Articulated Robot using Screw Theory and Geometric Algebra

Cited by 4 publications

References 12 publications

Survey of New Applications of Geometric Algebra

Survey of New Applications of Geometric Algebra

Analisis Kinematika Maju dari Tangan Robotik Berjari 4 yang Digunakan pada Robot Humanoid T-FLoW

Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

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