Papers by Keyword: Inverse Kinematics

Abstract: This paper presents the design and implementation of an object tracking manipulator robot coupled with an infrared sensor array. The robot is intended to demonstrate efficient object tracking within three-dimensional Cartesian space. The robot employs inverse kinematics to convert sensor inputs from Cartesian coordinates into a set of angular values which will drive the actuators based on the real-time location of the object being tracked. A series of experiments intended to assess the robot’s performance in terms of its angle accuracy, coordinate accuracy, and time accuracy in tracking an object was performed. Results indicates high performance tracking accuracy with total average angle accuracy exceeding , average coordinate accuracy above , and time accuracy around . The finding demonstrates the potential integration of an efficient object tracking system with inverse kinematics for more enhanced manipulator robot in wider applications.

Abstract: The development of additive manufacturing requires the improvement of 3D printers to increase accuracy and productivity. Delta kinematics 3D printers have advantages over traditional sequential kinematics 3D printers. The main advantage is the high travel speed due to the parallel movement of the platform from three pairs of arms. Another advantage is the relatively low cost due to the small number of structural components. However, delta 3D printers have received limited use. The main reason is the low positioning accuracy of the end effector. Errors in the manufacture and assembly of components of a parallel drive mechanism add up geometrically and cause an error in the position of the end effector. These formulas can be applied to a 3D printer as well. However, well-known studies consider deterministic models. Therefore, the analysis is performed for limiting size errors. The purpose of this article is to simulate the effect of statistical errors in displacements and arm lengths on the positioning errors of a platform with the end effector. The article effectively complements the field of error analysis research and provides theoretical advice on error compensation for delta 3D printer.

Abstract: The simulation and application of industrial robots has developed very quickly in recent decades. Along with the development of computer science, a lot of softwares to perform dynamic simulation have been created. The results of simulation can be used for layout evaluation, kinematic, dynamic study, off-line programming to avoid obstacle and for design mechanical structure of robots. A co-simulation of 2R industrial robots have been performed by Recurdyn and Matlab. The input parameters are executed under Matlab, and then exported to Recurdyn environment. Kinematic parameters will be executed by RecurDyn then exported to Matlab. The main tasks of this paper are performing 2R robotic manipulator kinematic simulation in two postures with the same trajectory and the same time. Thus, the result of simulation can be compared with theories. Finally, a real 2R robot model was used to verify the trajectory with CAE simulation.

Abstract: The paper presents the development of a dynamic model for the KUKA KR6 robot during single point incremental forming (SPIF) of metal sheets. The dynamic model of the KUKA KR6 robot is created in MATLAB^®-SimMechanics. This dynamic model is necessary to verify that the mechanical structure of this low payload industrial robot of 36 Kg capacity can withstand some specific forces in incremental forming of some low plasticity alloys like Ti6Al4V. In the Centre of Studies and Research for Plastic Deformations of "Lucian Blaga" University of Sibiu, different attempts on single point incremental forming of thin metal sheets have been carried out and some of the studies are based on SPIF using the KUKA KR6-2 industrial robot. Nevertheless, the previous experimental attempts using the KUKA KR 6-2 robot in SPIF processes were realised only on 0.4 mm thick DC04 steel sheets. This material has very good deformability properties and the forces during the process are relatively small. After the dynamic model validation some specific circular trajectories are imposed and the forces that can appear during SPIF process for Ti6Al4V alloy sheets are taken into consideration. After forces analysis, it was concluded that the KUKA KR6 robot can be used in single point incremental forming processes for metal parts requiring greater forming forces.

Abstract: In this paper, the analyses results on the behavior of Shape Memory Alloy (SMA) in Medical application were carried out. SMA materials are known by their aptitude to recover its original form when undergone suitable thermal changes. SMA is widely used in robotics, automotive, aerospace and it can be a potential application in biomedical engineering due to its low cost, high corrosion resistance and can be easily integrated with human applications. Stewart platform with two different upper platform diameters of 150 mm and 300 mm were designed, fabricated and used as experimental test-rig. Inverse kinematic calculations were carried out to identify a maximum deflection of Stewart platform that can promote continuous passive motion (CPM). The 150 mm base diameter Stewart platform is found to be the suited for generating substantial displacement between ankle and foot. The mechanical changes induced by the heat could be used as a property in manufacturing of rehabilitation device for foot and ankle.

Abstract: Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

Abstract: The most important in the study of the robots is the kinematic and dynamic analyze. Many researchers studied the kinematics or dynamics without simulation and assisted analyze that it is very heavy to understand the behavior and to show some characteristics. The paper shows one assisted method by using the virtual proper LabVIEW instrumentation (VI). For the forward kinematics (FK) and for direct dynamics (DD) was used one recurrent matrix method which was developed with quaternion algebra, that will be possible to use in many different other types of robots, only by initial settings of the type of joints, the movement axis, the home position, the dimension of each robot’s body, the application point in the working space of the manufacturing cells and the internal coordinates in each joint. For the inverse kinematics (IK) we used the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). The paper describe all steps in one case study to obtain the space curve in different Euller planes by using one arm type robot and the proposed VI-s. The presented method and the LabVIEW VI-s are generally and they can be used in all other robots types and for all other conventional and unconventional space curves.

Abstract: The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.

Abstract: In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

Abstract: Inverse kinematics model of the industrial robot is used in the control of the end-effecter trajectory. The solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible. In these cases is used the numerical approximation or other method with diffuse logic. The paper showed one new method for optimization of the inverse cinematic solution by applying the proper assisted Iterative Pseudo Inverse Jacobian Matrix Method coupled with proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links Method (IPIJMM-SBHTNN-TDRLM). In the paper was shown one case study to obtain one space circle curve by using one arm type robot and the proposed method. The errors of the space coordinates of the circle, after applying the proposed method, was less than 0.001. The study has contained the determining the internal coordinates corresponding to the external coordinates of the circle space curve, by solving the inverse kinematics with the proposed method and after that, by applying the forward kinematics to this coordinates, were obtained the external coordinates, what were compared with the theoretical one. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.