M-FABRIK: A New Inverse Kinematics Approach to Mobile Manipulator Robots Based on FABRIK

Santos, Phillipe; Freire, R.C.S.; Carvalho, Elisete Mendes; Molina, Lucas; Freire, Eduardo Oliveira

doi:10.1109/access.2020.3038424

Cited by 16 publications

(17 citation statements)

References 17 publications

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“…The kinematic analysis results showed augmentation of the task space to spherical objects, whereas, the trajectory planning results produced smooth weld with simultaneous motion of the moving platform and manipulator. The dynamic analysis for torque minimization control and comparison of proposed path planning algorithm with complex algorithms such as given by [38][39] are challenges to be studied in future.…”

Section: Discussionmentioning

confidence: 99%

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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Mobile Manipulators (MM) has attracted a lot of researchers for incorporation in the robotics field owning to their multitude of applications in real world. Welding automation has its wide applications in industry like automobile manufacturing and power generation industry involving spherical tanks. The objective of this study is to design workspace and devise a methodology to plan position trajectory of welding tool that produces smooth welding while the mobile platform turns simultaneously. The robot proposed in this paper has the manipulator mounted on a platform moving as a turntable to increase the workspace and enhances the mobility of the manipulator. The earlier produces linear segment of weld while the later produces parabolic segment. The kinematic equations for mobile platform and the mounted manipulator are described in detail. The workspace of the robot is visualized based on computations of transformation matrices and jacobians structured based on kinematic equation. Trajectories for each joint, computed using inverse kinematic equations, are also presented. For spherical trajectories the solution of system equations is combined with constraint values for each manipulator joint, thus allowing computation of desired joint position at any time interval. The efficacy of the proposed methodology for the trajectory planning is tested through a case study. The simulation results of motion transformation, workspace and trajectory show that linear segments of the trajectory combine with parabolic trajectory segments smoothly with zero acceleration within designed reachable workspace. The experimental results verify the efficacy of application of presented kinematic and inverse kinematic models for welding of spherical objects.

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Section: Discussionmentioning

confidence: 99%

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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“…ey adopted Denavit and Hartenberg parameters to define the geometry of a serial robot manipulator. Santos et al [37] presented a new IK method called M-FABRIK for mobile manipulator robots. ey may use various criteria (such as decreasing convergence time, avoiding contact with obstacles, and avoiding joint angle limits) to locate the robot.…”

Section: Methodsmentioning

confidence: 99%

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Tao

Yang

2021

Journal of Robotics

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Inverse kinematics (IK) has been extensively applied in the areas of robotics, computer animation, ergonomics, and gaming. Typically, IK determines the joint configurations of a robot model and achieves a desired end-effector position in robotics. Since forward and backward teaching inverse kinematics (FABRIK) is a forward and backward iterative method that finds updated joint positions by locating a point on a line instead of using angle rotations or matrices, it has the advantages of fast convergence, low computational cost, and visualizing realistic poses. However, the manipulators usually work in a complex environment. So, the kinematic chains are easy to produce the interference with their surrounding scenarios. To resolve the above mentioned problem, a two-step obstacle avoidance technology is proposed to extend the basic FABRIK in this study. The first step is a heuristic method that locates the updated linkage bar, the root joint, and the target position in a line, so that the interference can be eliminated in most cases. In the second step, multiple random rotation strategies are adopted to eliminate the interference that has not been eliminated in the first step. Experimental results have shown that the extending FABRIK has the obstacle avoidance ability.

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“…calculate the configuration of the chain, and inverse kinematics reverses this calculation to determine the joint parameters [28], [29]. Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters and reverse process that calculate the joint parameters achieving a specified position of the end-effector is known as inverse kinematics [26]- [31]. In this study, we created a kinematic model based on quaternion algebra for multi robot production cell to calculate dynamic TCP for collision management.…”

Section: A Robot Kinematicmentioning

confidence: 99%

A New Robotic Application for COVID-19 Specimen Collection Process

Deniz

Gökmen²

2021

Journal of Robotics and Control

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Covid-19 manual specimen collection process is too critical for health care workers due to they are able to getting infection from Covid-19-patient during the medical interaction. The purpose of this study, a novel robotic application is developed to achieve automatic specimen collection process for new corona virus (COVID-19). This application is a protection tool for health care workers for the Covid-19 pandemic. This robotic application easily and safely complete the sampling process task and assist to health care workers to prevent infection. The application is basically consist of a collaborative robot (COBOT), base plate, fixtures and a gripper. There are co-operation activities between the COBOT and health care worker to complete all tasks. The robotic application has been tested in the plant health care center as a prototype. The cycle-time (192 sec) for the robotic process needs to be improved. The Manual process is still %60 faster than robotic application. The biggest challenge in this application is patient’s mouth and nose physical size changes. Robot movements for the specimen collection in nose and mouth are arranged just based on the fixed point. This needs to be improved according to size changes. Covid-19 specimen collection process with a robotic application has been presented which don’t need any health care worker interaction with patient. This application needs to be improved related with above challenges to make a shelf product. It will create valuable impact and save lives in this pandemic.

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M-FABRIK: A New Inverse Kinematics Approach to Mobile Manipulator Robots Based on FABRIK

Cited by 16 publications

References 17 publications

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

A New Robotic Application for COVID-19 Specimen Collection Process

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