Identification of Denavit-Hartenberg Parameters of an Industrial Robot

Hayat, Abdullah Aamir; Chittawadigi, Rajeevlochana G.; Udai, Arun Dayal; Saha, Subir Kumar

doi:10.1145/2506095.2506121

Cited by 36 publications

(18 citation statements)

References 4 publications

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“…After the assembly of Tarantula, the identification of the proximal revolute joint positions and kinematic parameters of each leg is essential. The mathematical analysis of the measured data to obtain the joint axis vectors (JAVs) presented elsewhere [25] is discussed in short for brevity along with its extension for the prismatic joints. The points traced by the end-effector, i.e., the three-dimensional (3D) coordinates (x i ≡ [x i , y i , z i ] T ) were logged and stacked in a matrix A (Equation 13).…”

Section: Identification Of Kinematic Parameters Of Tarantulamentioning

confidence: 99%

“…The above equations gave the joint axis vector direction. For a point on the JAV, the center of circle c, i.e., the center of rotation for revolute joint was obtained using circle fitting method presented in [25], where c ≡ c 1 u 1 + c 2 u 2 +x, c 1 and c 2 are the center of fitted circle in the plane spanned by vectors u 1 and u 2 . For prismatic joint the mean of the traced point, i.e., c ≡x was taken as the point on the JAV of prismatic joints.…”

Section: Identification Of Kinematic Parameters Of Tarantulamentioning

confidence: 99%

“…Kinematic calibration of the legged mobile robot is presented in [24] and used the optimization based approach that requires the knowledge of its nominal or theoretical kinematic parameters for its initial guess to find the calibrated parameters and consequently improves the positional accuracy. We have used the geometric approach that needs no prior information of geometric parameters and used the circle point method formulation as presented in [25] to identify the widely used kinematic representation defined by Denavit and Hartenberg [26]. However, Ref.…”

Section: Introductionmentioning

confidence: 99%

“…However, Ref. [25] did not account for the robots with prismatic joints. In this work, we have extended the approach proposed in [25] for the prismatic joints as well and demonstrated it with the kinematic identification of each of the four legs of the assembled quadruped robot.…”

Section: Introductionmentioning

confidence: 99%

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Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

et al. 2018

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This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

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Section: Identification Of Kinematic Parameters Of Tarantulamentioning

confidence: 99%

Section: Identification Of Kinematic Parameters Of Tarantulamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

et al. 2018

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“…They include the selection of well-known manipulators like Puma, Stanford and Scara by changing the link masses, inertias and the Denavit-Hartenberg (DH) parameters. The importance on the latter lies on the fact that they are typically used to represent the architecture of a robotic arm and are usually provided by its manufacturer [11]. The DH parameters were used to define different configurations of a FANUC LR Mate 200iB robot and compared to the results provided by an open software for the synthesis, analysis, simulation and control of the same robot [12].…”

Section: Introductionmentioning

confidence: 99%

Learning Robotic Concepts with a 3R Lego NXT Robotic Arm

Thompson¹,

Serrano²,

Noriega³

et al. 2014

JACR

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In this paper we present the use of a 3R Lego robotic arm for teaching basic robotic concepts. The Lego Mindstorms NXT kit is an affordable equipment that can be used to better visualize robotic concepts usually taught in classes. The 3R Lego Robot has 2 degrees of freedom and has been equiped with an accelerometer located at the end-effector to collect acceleration data in the x, y and z axes. Additionally, a gyroscope was placed at the joint for the up and down movement. This allowed for obtaining a plant for the 3R Lego Robot in order to understand the inverse and forward kinematics as well as the physical representation of Denavit-Hartenberg (DH) parameters, velocity manipulability ellipsoids and trajectory planning. This is essential and key in the study of plants that is relevant to everyday use in the industry and academia. This will allow professors at the university to teach more easily with hands-on approach. The Lego product is cost efficient and new programmable blocks can be built and incorporated into Simulink models. Therefore, this can be extended to more complex analysis and feedback control. This will lead to better analysis of the system and provide the students with higher education of what they have learned in class. Furthermore, students will be more competitive to obtain jobs in industry by combining theoretical with experimental approach. Traditionally, industry core concepts are not taught in the class and may be incorporated with the 3R Lego robot for resume building and skill set application. Some papers indicate the use of different programming languages for the Lego Robots; however, none of them have the capabilities and potential of Matlab and Simulink. Additionally, some others have presented simulation work to teach robotic-related concepts, but they either lack the hands-on approach or the hardware utilized is expensive. The importance of this study lies on understanding and implementing basic robotic concepts in Matlab and Simulink together with a 3R Lego robot. Therefore, a more complex Simulink model can be developed for controller design purposes. This paper describes a comparison of a simulation model versus a real life system for helping students to understand modeling system theories versus real world applications.

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