Question

Asked 29th Dec, 2018

TU Wien

Inverse Kinematics method for Complex morphology?

Which method would be used to attain inverse kinematic equations in a complex morphology for a combination of joints in a robot manipulator?

Federal University of Santa Catarina

Shakib Sharifian I will be attentive to your results, since the closed solutions that until now I know are for very particular cases.

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Jumaa Salman Chiad

Al-Nahrain University

Please see

Technical Report Inverse Kinematics: a review of existing techniques and intr...

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4 Recommendations

Pierluigi Traverso

Italian National Research Council

Yogesh Chandra Tripathi

Forest Research Institute Dehradun

Jassim Mohsen Abed

University of Basrah

Silvia Marcu

Spanish National Research Council

Lamia Mustafa Al-Naama

University of Basrah

Jumaa Salman Chiad

Al-Nahrain University

Please see

Technical Report Inverse Kinematics: a review of existing techniques and intr...

Cite

4 Recommendations

Shakib Sharifian

TU Wien

Thanks Dr. Chiad for your suggestion, but this method is a kind of numerical and iterative method and what I am looking for is a kind of closed-form (analytical) solution for IK. But appreciate your answer.

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Neider Romero

Federal University of Santa Catarina

Maybe this article can help you.

https://reader.elsevier.com/reader/sd/pii/S2090447917300965?token=2D5263F93A8978B416282B400B05ABF6BE5A4808B7DB6EA1647406057B4099D3974F17FC7FAF3353CBAF9FD5EA5A2E27

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Shakib Sharifian

TU Wien

Thanks a lot Dear Neider Romero for your suggestion! Actually working with ANN is one of my favorites too and as I skim the article that you suggested to me, it makes me eager to do something in similar way in future too. But as I read the subject the "Soft computing Method" prepare you finally a black box that however you can use it on your real model and just with some easy calculation and so fast reach the desired target, but unfortunately it prepares a black or at the best try a gray-box of the model, and as my supervisor's purpose is on a totally white-box model, on my current project, this ANN is not working.

I already found a solution for my case and now I am in reporting phase and if somebody are interested in, I will ask my supervisor to publish my initial reports here too.

Best regards.

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Neider Romero

Federal University of Santa Catarina

Shakib Sharifian I will be attentive to your results, since the closed solutions that until now I know are for very particular cases.

Cite

In robot manipulator what is the main difference between KINEMATIC ANALYSIS and KINETIC ANALYSIS ?

Question

3 answers

Asked 26th Dec, 2018

Himam Saheb Shaik

As every one know the kinematic analysis classified into direct kinematics and inverse kinematics

Is Kinetic analysis exists??

what is meant by Kineto static analysis of robot

please help me in this regard

What we say about manipulability when we used dual quaternions for kinematics?

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Asked 11th Jun, 2020

Hamed moradi.h

i described kinematics based on screw theory using dual quaternions. i wanna analyze manipulability in order to optimize links length for 6-dof robotics arm. i know this method is singularity-free but how is robot's dexterity ???

I need practical application for three link rigid manipulator robots?

Question

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Asked 29th Feb, 2024

Mohamed Elgohary

I have kinematics model

How to give orientation input to end effector of 5-DOF (5R) robot?

Question

3 answers

Asked 29th Jan, 2018

Manan Kalasariya

I am programming 5-DOF(5R) robot, first 3-DOF for position and 2-DOF end effector with 1 yaw and 1 roll joint. I am using jacobian inverse method for the inverse kinematics of robot. Forward kinematics is done of all 5-DOF and then Jacobian is calculated. That jacobian inverse is used for the inverse kinematics solution by itterative method.

I am getting required position by the robot but enable to understand how to control end effector orientation.

Joints variable are calculated as

joints variables( theta) - matrix 5 X 1 (theta1, theta2.... , theta5)

Jacobian (J)- matrix 6 X 5

error vector (error between required and current position) (e) - matrix 6 X 1

=> theta = inverse(J)*e

error vector contain 3 position (X,Y,Z) and 3 orientation (roll, pitch yaw) element. (correct me here, if I am wrong)

Why a quadruped uses 3 degrees of freedom(dof) for each leg instead of 2dof. What are the disadvantages of using 2dof for each leg?

Question

2 answers

Asked 10th Dec, 2021

Prerna Gupta

A quadruped robot has four legs. Each legs has 3 degrees of freedom i.e 3 joints. But the quadruped robot can also move with 2 joints on each leg. What are the disadvantages of using 2 joints instead of 3 .

Are there any papers on motor torque control (on robot joints) without torque sensor ?

Question

2 answers

Asked 25th Aug, 2022

Yinan Miao

Has anyone known papers on torque estimation control using motors without torque sensors, or related to robot applications? thank you!

Currently, I am using the motor without torque sensors to control the torque output at the joint of the robot, and I have achieved good results. However, I am distressed that there is no theory to support further and improve my idea. I was frustrated in searching for papers. I would like to ask, does anyone know of a similar article using motors without torque sensors for torque control?

What method is best for dynamic modeling constrained under-actuated closed-loop kinematic chain?

Question

5 answers

Asked 2nd Sep, 2020

Mahdi Nabipour

I have a robotic system that is not actuated in one joint (no torque is applied) and actuated in all other joints.

In this model, the blue rectangles are the links of the robot, the filled small circles are the joints and the circle slot is a constraint that the slider is rotating around it. The red filled circle and the red slot are connected to the ground but the red filled circle is a motor that produces torque. Among other joints, 2 of them are actuated and one is just a joint and isn't actuated.

The slider is applying force to the circular slot to remain on the track. This constraint force consists of a force toward the center of the slot and a moment in the direction perpendicular to the figure.

I want to solve the forward dynamics (by having the joint torques, I want to obtain all link's angular accelerations) to convert it into a state-space form. It is preferable for me to be able to obtain the constraint forces in the slider, also. I don't want to use ordinary newton's method. What other methods do you recommend me to use and why? Please remember that this system is a closed-lop kinematic chain and not a tree-structure (serial kinematic structure). I will be grateful if you introduce good references for the method you recommend.

Thanks

How can I use my own algorithm to simulate robot in ROS.?

Question

1 answer

Asked 14th Oct, 2019

Deleted profile

I have created an algorithm for Inverse kinematics of a 6dof robotic arm. I wish to evaluate it with a simulation in ROS. I have a robotic arm model and a python code for calculating the IK. how can I implement my code in ROS for simulation..?

Robotic Manipulation in Unstructured Environments

Discussion

2 replies

Asked 11th Sep, 2023

Mostak Ahamed

How can robot manipulators adapt to unstructured environments, such as cluttered spaces, irregular objects, and varying terrains, for tasks like object pick-and-place?

Customized scalar dynamic equations for robotic manipulators

Article

Dec 1996

Oleg Vinogradov

A robotic manipulator is considered as a reduction of a topologically uniform 3D-chain which is defined as a system of one-dimensional links connected by spherical joints. It has been shown in (4) that for the introduced chain the dynamic equations can be derived in an explicit scalar form. Such a chain can be viewed as a generic manipulator so tha...

A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator

Article

Dec 1991

The inverse kinematic problem of the general 6R robot manipulator is completely solved by means of a 16th degree polynomial equation in the tangent of the half-angle of a revolute joint. An algorithm is developed to compute the desired joint angles of all possible configurations of the kinematic chain for a given position of the end-effector. Examp...

modeling the kinematic properties of an industrial manipulator in bin packing applications

Conference Paper

Full-text available

Aug 2018

A robotic packing system allows to compute optimal solutions to the bin-packing problem and to execute those solutions (loading / unloading task) with robotic platforms. One of the modules associated with this system is the kinematic model of the manipulator. This article documents the computing and validation of forward and inverse kinematic model...

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