Position Forward Kinematics of 6-DOF  Robotic Arm

Ondočko, Štefan; Stejskal, Tomáš; Svetlík, Jozef; Hrivniak, Lukáš; Šašala, Michal; Žilinský, Adam

doi:10.21496/ams.2020.018

Cited by 2 publications

(2 citation statements)

References 8 publications

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“…Relations describing the position kinematics by means of position vectors p i , where i <1;7> at individual open kinematic chain segments have also been derived in [25,26]. This is the case of the robotic arm's forward kinematics.…”

Section: Model Creation and Data Processingmentioning

confidence: 99%

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

et al. 2021

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The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

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Section: Model Creation and Data Processingmentioning

confidence: 99%

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

et al. 2021

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“…The IK method is more complicated and requires more constraints than the forward kinematics method. Most robotic arm designs and analyses use forward kinematics and inverse kinematics [4][5][6].…”

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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Position Forward Kinematics of 6-DOF Robotic Arm

Cited by 2 publications

References 8 publications

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

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

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