Kinematic Singularities of Robot Manipulators

Donelan, Peter

doi:10.5772/9548

Cited by 16 publications

(9 citation statements)

References 49 publications

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“…Donelan 2011 investigated the kinematics singularities of a robot manipulator using Kinematics mapping [7]. Song et al 2011 presented the cyclic coordinate descent (CCD) for computing inverse kinematics in a multi-joint chain robot [8].…”

Section: A Kinematics Modelingmentioning

confidence: 99%

Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Yudha¹,

Dewi²,

Risma³

et al. 2018

EECSI

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Arm robot manipulator heavily applied in industries ranging from welding, pick-and-place, assembly, packaging, labeling, etc. Trajectory planning and tracking is the fundamental design of an arm robot manipulator. The trajectory is set and determined to satisfy a certain criterion effectively and optimally. Optimization of robot trajectory is necessary to ensure the good quality product and to save energy, and this optimization can be provided by the right modeling and design. This paper presents a review study of arm-robot manipulator design and control for trajectory tracking by investigating the modeling of an arm robot manipulator starting from kinematics, dynamics and the application of the more advanced methods. The idea of this paper comes from the popularity of inverse kinematics among students.

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Section: A Kinematics Modelingmentioning

confidence: 99%

Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Yudha¹,

Dewi²,

Risma³

et al. 2018

EECSI

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“…They should also be distinguished from "coordinate singularities", points where a coordinate system is not locally Cartesian, like latitude-longitude coordinates at the poles. There is a large literature on singularities of mechanisms; see for example the database Donelan & Azzato (2014) and the survey by Donelan (2010) for the case of manipulators.…”

Section: Of 18mentioning

confidence: 99%

Mathematical principles for the design of isostatic mount systems for dynamic structures

2015

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“…Robot motions can be designed using an inverse kinematics method to generate the desired trajectory, and the robot follows the generated trajectory. The inverse kinematics output is the ideal parameters and angles of robot links to ensure the smooth motion during harvesting time [10][11][12][13][14][15][16][17][18][19][20][21]. The suitable end-effector of robot applied as a harvesting robot is a gripper.…”

Section: Introductiomentioning

confidence: 99%

Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

Dewi

Nurmaini

Risma

et al. 2020

IJECE

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The arm robot manipulator is suitable for substituting humans working in tomato plantation to ensure tomatoes are handled efficiently. The best design for this robot is four links with robust flexibility in x, y, and z-coordinates axis. Inverse kinematics and fuzzy logic controller (FLC) application are for precise and smooth motion. Inverse kinematics designs the most efficient position and motion of the arm robot by adjusting mechanical parameters. The FLC utilizes data input from the sensors to set the right position and motion of the end-effector. The predicted parameters are compared with experimental results to show the effectiveness of the proposed design and method. The position errors (in x, y, and z-axis) are 0.1%, 0.1%, and 0.04%. The rotation errors of each robot links (θ1, θ2, and θ3) are 0%, 0.7% and 0.3%. The FLC provides the suitable angle of the servo motor (θ4) responsible in gripper motion, and the experimental results correspond to FLC’s rules-based as the input to the gripper motion system. This setup is essential to avoid excessive force or miss-placed position that can damage tomatoes. The arm robot manipulator discussed in this study is a pick and place robot to move the harvested tomatoes to a packing system.

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Kinematic Singularities of Robot Manipulators

Cited by 16 publications

References 49 publications

Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review

Mathematical principles for the design of isostatic mount systems for dynamic structures

Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

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