Inverse kinematics of a redundant robot type scorbot – ER Vplus: influence of performance indices
Keywords:
Performance indexes, manipulability, Jacobian matrix, kinematic redundancy, robot.
Abstract
In this paper the inverse kinematics of a redundant Scorbot-ER VPlus type robot with an additional degree of freedom, represented by a sliding platform, is performed. For the solution of the inverse kinematic problem it is developed an iterative process that evaluates the performance of the manipulator in different configurations. A joint coordinate is selected as a variable in the iterative process and setting its value, the other coordinates are determined from the inverse kinematic model of the original manipulator. For this configuration different performance indices applied to robotic systems are evaluated and the computational cost of their inclusion in the solution of the inverse kinematic problem is analyzed. Subsequently the selected coordinate is varied and the process is repeated. In this way it is possible to assess the performance indices leading to lower resolution times, seeking their application and inclusion in the kinematic control of redundant robot.Downloads
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References
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T. Yoshikawa. Foundations of Robotics. Analysis and Control, The MIT Press, 1990.
J. Angeles, Fundamentals of Robotic Mechanical Systems. Theory, Methods, and Algorithms, Springer, 1997.
L. Huo and L. Baron, “Kinematic Inversion of Functio- nally-Redundant Serial Manipulators: Application to Arc-Welding”, in Transactions- Canadian Society for Mechanical Engineering 29(4), 2005, pp. 679-690.
L. Sciavicco and B. Siciliano, Modelling and Control of Robots Manipulator. Springer, 2000.
H. Adasa and J. Slotine, Robot Analysis and Control. John Wiley & Sons, Inc. New York, 1992.
J. J. Craig, Introduction to robotics. Mechanisms and control. Addison Wesley Publishing Company, 1989.
F. Flacco and A. De Luca, “Fast Redundancy resolu- tion for high- dimensional robots executing prioritized tasks under hard bounds in the joint space”, in IEEE/ RSJ International Conference on Intelligent robots and systems, Tokyo, 2013.
O. Kanoun, F. Lamiraux and P. F. Wieber, “Kinematic control of redundant manipulators: generalizing the task-priority framework to inequality task”, in IEEE Transactions on Robotics, vol 27 (4), 2011.
B. Siciliano, “Solving manipulator redundancy with the augmented task space method using the constraint Jacobian transpose”, IEEE Int. Conf. on Robotics and Automation, vol. 5, pp. 1-8, 1992.
J. Ángeles and F.C. Park, “Performance Evaluation and Design Criteria”, Handbook of Robotics. Springer, 2008.
C. Gosselin and J. Angeles, “A Global Performance In- dex for the Kinematic Optimization of Robotic Mani- pulators”, Journal of Mechanical Design, 113(3), pp. 220-226, 1991.
H. A. Moreno, R. Saltaren, I. Carrera, L. Puglisi and R. Aracil, “Índices de desempeño de robots manipulado- res: una revisión del Estado del Arte”, CEA Elsevier, España, 2012.
J. Wang and C. M. Gosselin, “Kinematic Analysis and Design of Kinematically Redundant Parallel Mecha- nisms”, Journal of Mechanical Design, vol. 126, pp. 109-118, 2004.
J. Wu, J. Wang, L. Wang and T. Li, “Dynamics and con- trol of a planar 3-DOF parallel manipulator with actua- tion redundancy”. Mechanism and Machine Theory 44, pp. 835-849, 2009.
S. B. Nokleby, R. Fisher, R. P. Podhorodeski and F. Fir- mani, “Force capabilities of redundantly-actuated pa- rallel manipulators”, Mechanism and Machine Theory 40, pp. 578-599, 2005.
G. Cui, H. Zhang, F. Xu and C. Sun, “Kinematics Dex- terity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator”, Intelligent Robotics and Applica- tions, vol. 8918, pp. 1-11, 2014.
A. Harish and G. Satish Babu, “Manipulability Index of a Parallel Robot Manipulator”, International Journal of Mechanical Engineering and Technology, vol. 6, Issue 6, pp. 09-17, 2015.
Published
2017-03-28
How to Cite
Mejía-Calderón, L., González-Echeverry, A., & Quintero-Riaza, H. (2017). Inverse kinematics of a redundant robot type scorbot – ER Vplus: influence of performance indices. ITECKNE, 14(1), 24 - 33. https://doi.org/https://doi.org/10.15332/iteckne.v14i1.1627
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Section
Research and Innovation Articles
