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Wyświetlanie 1-15 z 23
Tytuł:
On the application of elastic band method to repeatable inverse kinematics in robot manipulators
Autorzy:
Duleba, I.
Opalka, M.
Powiązania:
https://bibliotekanauki.pl/articles/384535.pdf
Data publikacji:
2013
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
inverse kinematics
repeatability
algorithm
Opis:
In this paper an idea of the elastic band method was exploited to design a repeatable inverse kinematics algorithm for robot manipulators. The method incorporates an optimization process at many stages of its performance and admits some extensions. Performance of the algorithm was illustrated on models of the three DOF planar pendulum and the PUMA robot. A comparison with a standard pseudo-inverse Jacobian algorithm, which does not preserve repeatability of inverse kinematics, is also provided.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 4; 5-12
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An inverse kinematic algorithm for the human leg
Autorzy:
Głowiński, S.
Krzyżyński, T.
Powiązania:
https://bibliotekanauki.pl/articles/281919.pdf
Data publikacji:
2016
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
inverse kinematics
human leg
optimization
Opis:
In this article, a 3-link kinematic model of a human leg is defined and analyzed with focus on optimizing the manipulability. The forward kinematics for the leg is used to define quantitative measures of the manipulability and workspace in a sagittal plane. Analytical results for different manipulability indices are derived. Using numerical optimization in Matlab package, the manipulability measure is optimized under different constraints. The range of motion and joint comfort zones of every joint is defined. The algorithm for redundant chain, based on analytical equations, is proposed in inverse kinematics.
Źródło:
Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 53-61
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A comparative study of incremental algorithms for computing the inverse kinematics of redundant articulated
Autorzy:
Moussaoui, A.
Otmani, R.
Pruski, A.
Powiązania:
https://bibliotekanauki.pl/articles/384431.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
inverse kinematics
accessibility
physical disability
Opis:
The field of control of redundant articulated mechanical systems requires the use of algorithms to compute the inverse kinematics. The fields of animation, virtual reality or game in particular, are very interested in these algorithms. We propose in this paper a comparison between several algorithms of incremental type. The considered application concerns the accessibility evaluation of an environment used by a handicapped person (an apartment, a house, an institution…). The physical disability involves a particular characteristic of the human articulated structure that gives rise to constraints that must be taken into account in computing the inverse kinematics.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 3; 3-9
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A comparison of methods solving repeatable inverse kinematics for robot manipulators
Autorzy:
Duleba, I.
Karcz-Duleba, I.
Powiązania:
https://bibliotekanauki.pl/articles/229288.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
manipulator
inverse kinematics
repeatability
optimization
algorithms
Opis:
In this paper two recent methods of solving a repeatable inverse kinematic task are compared. The methods differ substantially although both are rooted in optimization techniques. The first one is based on a paradigm of continuation methods while the second one takes advantage of consecutive approximations. The methods are compared based on a quality of provided results and other quantitative and qualitative factors. In order to get a statistically valuable comparison, some data are collected from simulations performed on pendula robots with different paths to follow, initial configurations and a degree of redundancy.
Źródło:
Archives of Control Sciences; 2018, 28, 1; 5-18
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of inverse kinematics algorithms: extended Jacobian approximation of the dynamically consistent Jacobian inverse
Autorzy:
Ratajczak, J.
Powiązania:
https://bibliotekanauki.pl/articles/229524.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
redundant manipulator
inverse kinematics
Jacobian
approximation
Opis:
The paper presents the approximation problem of the inverse kinematics algorithms for the redundant manipulators. We introduce the approximation of the dynamically consistent Jacobian by the extended Jacobian. In order to do that, we formulate the approximation problem and suitably defined approximation error. By the minimization of this error over a certain region we can design an extended Jacobian inverse which will be close to the dynamically consistent Jacobian inverse. To solve the approximation problem we use the Cholesky decomposition and the Ritz method. The computational example illustrates the theory.
Źródło:
Archives of Control Sciences; 2015, 25, 1; 35-50
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Prototyp manipulatora do zadań specjalnych
A prototype of manipulator for special tasks
Autorzy:
Świstak, Ł.
Szrom, D.
Szlachta, A.
Powiązania:
https://bibliotekanauki.pl/articles/267119.pdf
Data publikacji:
2014
Wydawca:
Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Tematy:
manipulator
modelowanie
kinematyka odwrotna
modeling
inverse kinematics
Opis:
W pracy opisano prototyp manipulatora przeznaczonego do pracy w warunkach szkodliwych. Przedstawiono strukturę oraz funkcjonalność manipulatora. Przedstawiany w artykule prototyp manipulator pozwala studentom zapoznać się z zagadnieniami kinematyki odwrotnej oraz konfiguracji osobliwej Prototyp manipulatora został wykonany w skali 1:5. Opracowany system składa się z konstrukcji manipulatora, wraz ze sterownikiem i modułem Bluetooth oraz aplikacją do obsługi robota.
The work describes a prototype manipulator designed to work under harmful conditions. The prototype of manipulator enables students to familiarize with problems of inverse kinematics and singular configuration was presented. Developed manipulator has been built at a scale of 1:5. The article presents the structure and functionality of the manipulator. The developed system consists of wireless communication by Bluetooth and control system. The application window, which was written in C #, is dedicated to communicate with the manipulator. Control of manipulator is carried out in three modes of operation.
Źródło:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2014, 38; 69-72
1425-5766
2353-1290
Pojawia się w:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Digital Twin: industrial robot kinematic model integration to the virtual reality environment
Autorzy:
Kuts, Vladimir
Cherezova, Natalia
Sarkans, Martins
Otto, Tauno
Powiązania:
https://bibliotekanauki.pl/articles/99835.pdf
Data publikacji:
2020
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
virtual reality
digital twin
industrial robots
inverse kinematics
Opis:
Digital Twin (DT) concept nowadays is shown via the simulations of the manufacturing systems and included those production processes and parametric 3D models of the product. It is the primary method for planning, analysing and optimising the factory layout and processes. Moreover, work on management via the simulation in real-time is already done using Virtual Reality (VR) tools from a safe and remote environment. However, there is a list of limitation of such kind of digital systems, as connectivity speed and precision of the digital environment. The primary goal of this study is to access second listed limitation and on the example of the fully synchronised physical with its digital replica industrial robot, increase the level of precision of the developed DT environment. The proposed approach introduces transfer of the mathematical model to the virtual environment, thus creating a precise and scaled visual model of the Industrial Robot.
Źródło:
Journal of Machine Engineering; 2020, 20, 2; 53-64
1895-7595
2391-8071
Pojawia się w:
Journal of Machine Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation of motion of a mobile robot on uneven terrain
Autorzy:
Sperzyński, Przemysław Grzegorz
Bałchanowski, Jacek
Gronowicz, Antoni
Powiązania:
https://bibliotekanauki.pl/articles/1839639.pdf
Data publikacji:
2020
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
wheeled mobile robot
contact analysis
inverse kinematics computation
Opis:
In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.
Źródło:
Journal of Theoretical and Applied Mechanics; 2020, 58, 2; 541-552
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Suboptimal approximations in repeatable inverse kinematics for robot manipulators
Autorzy:
Duleba, I.
Karcz-Duleba, I.
Powiązania:
https://bibliotekanauki.pl/articles/201509.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
manipulator
inverse kinematics
repeatability
optimization
odwrotna kinematyka
powtarzalność
optymalizacja
Opis:
In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 2; 209-217
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Position Project to Study Selected Characteristics of the Optoelectronic Heads in RobotStudio
Autorzy:
Kaczmarek, W.
Panasiuk, J.
Powiązania:
https://bibliotekanauki.pl/articles/403789.pdf
Data publikacji:
2014
Wydawca:
Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
Tematy:
optoelectronic head
industrial robot
RobotStudio
air target
inverse kinematics
Opis:
In the article, a project of robotized positions to study optoelectronic heads in the RobotStudio environment was presented. The authors suggested to use industrial robots in order to simulate movement of the head holder as well as tracked objects. Modern RobotStudio programming environment application with virtual controller technology allowed for accurate reflection of the research position functionality. As a part of the carried out works, the control programs were drawn up in RAPID language.
Źródło:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2014, 5, 3 (17); 7-22
2081-5891
Pojawia się w:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An exoskeleton arm optimal configuration determination using inverse kinematics and genetic algorithm
Autorzy:
Głowiński, Sebastian
Błażejewski, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/306968.pdf
Data publikacji:
2019
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
algorytm genetyczny
kinematyka odwrotna
egzoszkielet
ramię
arm exoskeleton
genetic algorithm
inverse kinematics
Opis:
This paper deals with the kinematic modelling of an arm exoskeleton used for human rehabilitation. The biomechanics of the arm was studied and the 9 Degrees of Freedom model was obtained. The particular (optimal) exoskeleton arm configuration is needed, depending on patient abilities and possibility or other users activity. Methods: The model of upper arm was obtained by using Denavit–Hartenberg notation. The exoskeleton human arm was modelled in MathWorks package. The multicriteria optimization procedure was formulated to plan the motion of trajectory. In order to find the problem solution, an artificial intelligence method was used. Results: The optimal solutions were found applying a genetic algorithm. Two variants of motion with and the visualization of the change of joints angles were shown. By the use of genetic algorithms, movement trajectory with the Pareto-optimum solutions has been presented as well. Creating a utopia point, it was possible to select only one solution from Pareto-optimum results. Conclusions: The obtained results demonstrate the efficiency of the proposed approach that can be utilized to analyse the kinematics and dynamics of exoskeletons using the dedicated design process. Genetic algorithm solution could be implemented to command actuators, especially in the case of multi-criteria problems. Moreover, the effectiveness of this method should be evaluated in the future by real experiments.
Źródło:
Acta of Bioengineering and Biomechanics; 2019, 21, 1; 45-53
1509-409X
2450-6303
Pojawia się w:
Acta of Bioengineering and Biomechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Integracja czujników inercyjnych z konstrukcją robota humanoidalnego cz. II
Integration of inertial sensors with humanoid robots body, part II
Autorzy:
Świątek-Brzeziński, P.
Kosiński, P.
Powiązania:
https://bibliotekanauki.pl/articles/152314.pdf
Data publikacji:
2013
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
robot humanoidalny
kinematyka odwrotna
Microsoft Robotics Developer Studio
humanoid robots
inverse kinematics
Opis:
W niniejszym artykule przedstawiono algorytmy sterowania robotem humanoidalnym firmy Futaba. Zaprezentowano wykorzystanie sztucznych sieci neuronowych, jako alternatywnego sposobu obliczenia kinematyki odwrotnej oraz wykorzystanie środowiska Microsoft Robotics Developer Studio do tworzenia złożonych, wielowątkowych aplikacji szeroko stosowanych w robotyce. Ponadto pokazano zastosowanie środowiska symulacyjnego VSE (Visual Simulation Environment) w procesie prototypowania algorytmów sterujących.
This paper presents a control system for a Futaba humanoid robot [1]. It is equipped with a controller board based on a microcontroller with an ARM7TDMI core, a full set of inertial sensors and a 2.4 GHz wireless communication module. The controller uses the wireless communication module to send information about the robot state to a PC on which the controlling application is run. This paper focuses on the software part of the presented system (the hardware part has been presented in the first part of this paper). In order to develop a controlling algorithm, an analysis of robot kinematics was made and equations for direct kinematics were derived in consistency with the Denavit-Hartenberg convention. To eliminate the necessity of designating equations for inverse kinematics, which can be very complex due to the kinematic redundancy of the robot, an artificial neural network was used (Fig. 2). The application was written using the Microsoft Robotics Developer Studio designed for creating complex, multithread, distributed and scalable applications used in robotics. The application uses the data acquired by radio to implement the walking and balance-keeping algorithms. For visualization of the robot movement, testing and development of the algorithms without the risk of damaging the robot, a simulation in the Visual Simulation Environment, a part of the Microsoft Robotics Developer Studio, was created. A 3D model of the robot was used in this simulation (Fig. 4).
Źródło:
Pomiary Automatyka Kontrola; 2013, R. 59, nr 1, 1; 47-50
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators
Autorzy:
Duleba, I.
Karcz-Duleba, I.
Mielczarek, A.
Powiązania:
https://bibliotekanauki.pl/articles/329751.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
robot manipulator
repeatable inverse kinematics
initial configuration
manipulator robotyczny
kinematyka odwrotna
konfiguracja początkowa
Opis:
A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2018, 28, 3; 483-492
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Approximation of Jacobian inverse kinematics algorithms
Autorzy:
Tchoń, K.
Karpińska, J.
Janiak, M.
Powiązania:
https://bibliotekanauki.pl/articles/929992.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
kinematyka odwrotna
pseudoodwrotny Jacobian
aproksymacja
robot inverse kinematics
extended Jacobian
Jacobian pseudoinverse
approximation
Opis:
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 519-531
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reference trajectory tracking for a multi-DOF robot arm
Autorzy:
Krasňanský, R.
Valach, P.
Soós, D.
Zarbakhsh, J.
Powiązania:
https://bibliotekanauki.pl/articles/229537.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
inverse kinematics
real-time reference tracking
signal generator
multi-DOF
dynamic data exchange
Opis:
This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.
Źródło:
Archives of Control Sciences; 2015, 25, 4; 513-527
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 23

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