Kinematic Analysis of A 6-DOF Robotic Arm

Nguyen, Minh-Tuan; Yuan, Chong; Huang, Jin H.

doi:10.1007/978-3-030-20131-9_292

Cited by 12 publications

(5 citation statements)

References 5 publications

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“…Also, as a result of camera movement, camera shake and poor focus during exposure, the image loses its quality dramatically. Therefore, camera shake resulting from the running of the motors causes serious concerns in such image acquisitions, Oh et al [13] study the blur originating from the camera shake using the statistics of acquired images of the shaken camera in order to predict perceptual blur.…”

Section: Precision Agriculture System and Role Of Phenotypingmentioning

confidence: 99%

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Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Paul

Arunachalam

Khodadad

et al. 2021

Int. J. Autom. Comput.

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The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential (PID) control with type-2 fuzzy logic (T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator (TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID (T1-F-PID) controller.

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Section: Precision Agriculture System and Role Of Phenotypingmentioning

confidence: 99%

“…mm λm(mm) λM (mm) r 2 mm > 0 where the min and max eigenvalues of the matrix are represented by and respectively, also is the upper bound. The following theorem gives the stability analysis of T2-F-PID controller (13).…”

Section: Let Theṅmentioning

confidence: 99%

Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Paul

Arunachalam

Khodadad

et al. 2021

Int. J. Autom. Comput.

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“…Robot Şekil 7 de görülmektedir. Robotun genel tasarımı ve analizleri farklı kaynaklarda verilmiştir (Duymazlar, 2020;Havusoğlu, 2014;Iqbal et al, 2012;Özüdoğru, 2020;Nguyen et al, 2019;Sarıaltın, 2017). Sadece robotun performansı artmak için bazı adımlar atılmıştır.…”

Section: Kaynak Robot Tasarımıunclassified

Gözlük Çerçevesi Üretimi İçin Otomatik Bir Sistem Geliştirme

Ilhan¹

2021

European Journal of Science and Technology

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ÖzetGözlüğün çerçevesi tipik olarak el aletleri kullanılarak adım adım yapılır. Bu süreç zaman alıcı, maliyetli ve hassas üretim için daha az doğru sonuçlar vermektedir. Bu makalede, gözlük çerçevesi üretmek için otomatik bir sistem sunulmuştur. Üretimde mekanize edilerek seri üretimde daha fazla ürün üretilmesi hedeflenmektedir. Yerli endüstriyel aparatların tasarımı ve üretimi çalışmaları bu amaç doğrultusunda sürdürülmektedir. Önerilen sistem robotik bir kol ve bir aparattan oluşmaktadır. Altı serbestlik derecesine (DOF) sahip robotik el kaynak için, apparat ise çerçeve parçalarını sabit bir konumda tutmak için kullanılmaktadır. Elde edilen sonuçlara göre, sistem kabul edilebilir performans göstermiş olup, mevcut üretim sistemleri ile ilgili eksiklikleri giderebilecek kapasiteye sahip sonuçlara ulaşılmıştır.

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“…The KA focuses solely on the robot's movement, without considering the force which causes it. Furthermore, KA describes the relationship between the end effector and the base, as well as the intermediate links [2,3]. There are two main categories of KA; forward and inverse kinematics.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics Analysis of Novel 6-Dof Robotic Arm Manipulator for Oil and Gas Welding Using Grey Wolf Algorithm

Nyong-Bassey

A.M.

2022

IJORAS

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his paper presents a grey-wolf algorithm for solving the inverse kinematics of a newly designed 6-degree-of-freedom robotic arm for oil and gas pipeline welding which has not been used in the literature. Consequently, due to the robot’s multiple joints with compounding combinatory possibilities of joint angles, analysis of the inverse kinematics is relatively complex. In this research, grey-wolf algorithm, a swarm-based meta-heuristic algorithm, has been used to solve for the inverse kinematics of the robotic arm with respect to tracking a rectangular trajectory with six sets of waypoints in the 3D [X, Y, Z] space. The results were further analyzed in terms of the accuracy of the position of end effector from the accurate position of the rectangular target trajectory via a mean squared error cost function. Furthermore, results of comparison between the grey-wolf algorithm and the particle swarm optimisation, an alternate swarm algorithm with respect to position error from the inverse kinematics task is also presented. The results obtained via simulation clearly demonstrates the superior performance of the grey-wolf algorithm compared to particle swarm optimisation with respect to the solving an inverse kinematics task

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Kinematic Analysis of A 6-DOF Robotic Arm

Cited by 12 publications

References 5 publications

Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Gözlük Çerçevesi Üretimi İçin Otomatik Bir Sistem Geliştirme

Inverse Kinematics Analysis of Novel 6-Dof Robotic Arm Manipulator for Oil and Gas Welding Using Grey Wolf Algorithm

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