Research Article
5 serbestlik dereceli (SD) seri robot manipülatörü tasarımı, uygulaması ve analitik yöntem ve basit arama tekniği yoluyla ters kinematik çözümü
Abstract
Bu çalışmada, beş serbestlik derecesine (SD) sahip bir seri robot manipülatörü tasarlanmış ve test edilmiştir. Robot mekanizmasının kesin analitik çözümü (üç boyutlu uzayda önceden tanımlanmış bir uç işlevcisi konumu için yalnızca bir ters kinematik çözümü) olmayan ters kinematik problemi, analitik yöntem ve bir basit arama metodu kombinasyonu kullanılarak çözülmüştür. Önerilen yöntem, gerçek zamanlı kullanılabilmesi için mekanizma çalışırken uç işlevcinin gideceği bir sonraki nokta için çözüm yapılabilecek şekilde tasarlanmıştır. Gerçekleştirilen mekanizmayı kontrol etmek için Visual Basic programlama dili kullanılarak bir kullanıcı arayüzü programı yazılmıştır. Son olarak, önerilen ters kinematik çözüm yöntemi 58 noktadan oluşan yay şeklinde bir yörünge ve 29 noktaya bölünmüş doğrusal bir yörünge olmak üzere iki farklı yörüngede test edilmiştir. Elde edilen sonuçlar, önerilen yöntemin tasarlanan mekanizmanın ters kinematik problemini çözmede başarıyla kullanılabileceğini ortaya koymuştur.
References
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- Fu Z, Wenyu Y, Zhen Y. “Solution of inverse kinematics for 6r robot manipulators with offset wrist based on geometric algebra”. Journal of Mechanisms and Robotics, 5(3), 310081-310087, 2013.
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- Kucuk S, Bingul Z. “Inverse kinematics solutions for industrial robot manipulators with offset wrists”. Applied Mathematical Modelling, 38(7-8), 1983-1999, 2014.
- Aristidou A, Lasenby J. “FABRIK: A fast, iterative solver for the inverse kinematics problem”. Graphical Models, 73(5), 243-260, 2011.
- Toz M. “Inverse kinematic solution of a 6 DOF serial robot manipulator with offset wrist by using alo algorithm”. Sigma Journal of Engineering and Natural Sciences, Special Issue_ASYU 2016, 8(2), 81-90, 2017.
- Dereli S, Köker R. “IW-PSO approach to the inverse kinematics problem solution of a 7-DOF serial robot manipulator”. Sigma Journal of Engineering and Natural Sciences, vol. 36(1), 77-85, 2018.
- Dereli S,. Köker R. “A meta-heuristic proposal for inverse kinematics solution of 7-DOF serial robotic manipulator: quantum behaved particle swarm algorithm”. Artificial Intelligence Review, 53, 949-964, 2020.
- Li T, Yao P, Luo M, Tan Z, Wang M, Guo Z. “Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso”. International Journal of Advanced Robotic Systems, 15(1), 1-10, 2018.
- Hrdina J, Návrat A, Vašík P. “Notes on planar inverse kinematics based on geometric algebra”. Advances in Applied Clifford Algebras, 28(3), 71-84, 2018.
- Sandoval J, Nouaille L, Poisson G, Parmantier Y. “Kinematic design of a lighting robotic arm for operating room”. Computational Kinematics, Mechanisms and Machine Science, 50, 44-52, 2018.
- Uzuner S, Akkuş N, Toz M. “Trajectory planning of a 5-DOF serial robot manipulator in joint-space”. Journal of Polytechnic, 20(1), 151-157, 2017.
- Haug EJ. Computer Aided Kinematics and Dynamics of Mechanical Systems. 1st ed. Boston, USA, Allyn and Bacon Boston 1989.
- Courty N, Arnaud E. “Sequential Monte Carlo Inverse kinematics”. Institute National Polytechnique de Grenoble, Avenue Félix Viallet, Grenoble, France Research Report, 6426, 24, 2008.
- Uzuner S. A New Approach to The Solution of Inverse Kinematics of Industrial Robots with Offset Wrist. MSc Thesis, Marmara University, İstabul, Turkey, 2012.
5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique
Abstract
In this study a five Degrees of Freedom (DOF) serial robot manipulator was designed and implemented. The inverse kinematics problem, which has not exact analytical solution (only one inverse kinematic solution for a predefined end effector position in three dimensional space), of the robot mechanism was solved by using the combination of the analytical method and a simple search method. In order to use the proposed method in real-time applications, the method is designed so that it can be used to solve the inverse kinematics problem for the next point of the end-effector while the mechanism is working. Moreover, so that to control the implemented mechanism, a user interface program was written by using Visual Basic programming language. Finally, the proposed inverse kinematic solution method was tested on two different trajectories, an arc shaped trajectory that composed of 58 points and a linear trajectory divided into 29 points. The obtained results revealed that the proposed method can be used successfully in solving the inverse kinematic problem of the designed mechanism.
References
- Yildiz I. “A low-cost and lightweight alternative to rehabilitation robots: omnidirectional interactive mobile robot for arm rehabilitation”. Arabian Journal for Science and Engineering. 43(3), 1053-1059, 2018.
- Srairi F, Saidi L, Hassam A. “Modelling control and optimization of a new swimming microrobot using flatness-fuzzy-based approach for medical applications“. Arabian Journal for Science and Engineering, 43(6), 3249-3258, 2018.
- Luo L, Tang Y, Lu Q, Chen X, Zhang P, Zou X. “A vision methodology for harvesting robot to detect cutting points on peduncles of double overlapping grape clusters in a vineyard”. Computers in Industry, 99, 130-139, 2018.
- Li Y, Zhu H. “A simple optimization method for the design of a lightweight, explosion-proof housing for a coal mine rescue robot”. Journal of the Brazilian Society of Mechanical Sciences and Engineering. 40(7), 1-10, 2018.
- Craig JJ. “Introduction to robotics: mechanics and control”. Addison-Wesley Publishing Company, 113-144, Boston, USA, 1989.
- Koker R. “A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization”. Information Sciences, 222, 528-543, 2013.
- Fu Z, Wenyu Y, Zhen Y. “Solution of inverse kinematics for 6r robot manipulators with offset wrist based on geometric algebra”. Journal of Mechanisms and Robotics, 5(3), 310081-310087, 2013.
- Kucuk S, Bingul Z. “The inverse kinematics solutions of fundamental robot manipulators with offset wrist”. IEEE International Conference on Mechatronics, Taipei, Taiwan, 10-12 July 2005.
- Liu ZZ, Liu HY, Luo Z. “Inverse kinematics analysis of 5 DOF robot manipulators based on virtual joint method”. Applied Mechanics and Materials, 143, 265-268, 2012.
- Sariyildiz E, Cakiray E, Temeltas H. “A comparative study of three inverse kinematic methods of serial industrial robot manipulators in the screw theory framework”. International Journal of Advanced Robotic Systems, 8(5), 9-24, 2011.
- Park J, Kim J M, Park HH, Kim J W, Kang G H, Kim S H. “An iterative algorithm for inverse kinematics of 5-DOF manipulator with offset wrist”. World Academy of Science, Engineering and Technology, 72(6), 12-25, 2012.
- Sheng L, Yiqing W, Qingwei C, Weili H. “A new geometrical method for the inverse kinematics of the hyper-redundant manipulators”. Robotics and Biomimetics, ROBIO'06, Waikoloa Village, HI, USA, 16-18 September 2006
- El-Sherbiny A, Elhosseini M A, Haikal AY. “A comparative study of soft computing methods to solve inverse kinematics problem”. Ain Shams Engineering Journal, 9(4), 2535-2548, 2018.
- Chaichawananit J, Saiyod S. “Solving inverse kinematics problem of robot arm based on a-star algorithm”. 13th International Joint Conference on Computer Science and Software Engineering (JCSSE), Khon Kaen, Thailand, 13-15 July 2016.
- Feng Y, Yao-nan W, Yi-min Y. “Inverse kinematics solution for robot manipulator based on neural network under joint subspace”. International Journal of Computers Communications & Control, 7(3), 459-472, 2012.
- Kucuk S, Bingul Z. “Inverse kinematics solutions for industrial robot manipulators with offset wrists”. Applied Mathematical Modelling, 38(7-8), 1983-1999, 2014.
- Aristidou A, Lasenby J. “FABRIK: A fast, iterative solver for the inverse kinematics problem”. Graphical Models, 73(5), 243-260, 2011.
- Toz M. “Inverse kinematic solution of a 6 DOF serial robot manipulator with offset wrist by using alo algorithm”. Sigma Journal of Engineering and Natural Sciences, Special Issue_ASYU 2016, 8(2), 81-90, 2017.
- Dereli S, Köker R. “IW-PSO approach to the inverse kinematics problem solution of a 7-DOF serial robot manipulator”. Sigma Journal of Engineering and Natural Sciences, vol. 36(1), 77-85, 2018.
- Dereli S,. Köker R. “A meta-heuristic proposal for inverse kinematics solution of 7-DOF serial robotic manipulator: quantum behaved particle swarm algorithm”. Artificial Intelligence Review, 53, 949-964, 2020.
- Li T, Yao P, Luo M, Tan Z, Wang M, Guo Z. “Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso”. International Journal of Advanced Robotic Systems, 15(1), 1-10, 2018.
- Hrdina J, Návrat A, Vašík P. “Notes on planar inverse kinematics based on geometric algebra”. Advances in Applied Clifford Algebras, 28(3), 71-84, 2018.
- Sandoval J, Nouaille L, Poisson G, Parmantier Y. “Kinematic design of a lighting robotic arm for operating room”. Computational Kinematics, Mechanisms and Machine Science, 50, 44-52, 2018.
- Uzuner S, Akkuş N, Toz M. “Trajectory planning of a 5-DOF serial robot manipulator in joint-space”. Journal of Polytechnic, 20(1), 151-157, 2017.
- Haug EJ. Computer Aided Kinematics and Dynamics of Mechanical Systems. 1st ed. Boston, USA, Allyn and Bacon Boston 1989.
- Courty N, Arnaud E. “Sequential Monte Carlo Inverse kinematics”. Institute National Polytechnique de Grenoble, Avenue Félix Viallet, Grenoble, France Research Report, 6426, 24, 2008.
- Uzuner S. A New Approach to The Solution of Inverse Kinematics of Industrial Robots with Offset Wrist. MSc Thesis, Marmara University, İstabul, Turkey, 2012.
There are 27 citations in total.
Details
| Primary Language | English |
|---|---|
| Subjects | Engineering |
| Journal Section | Research Article |
| Authors | |
| Publication Date | April 7, 2020 |
| Published in Issue | Year 2020 Volume: 26 Issue: 2 |
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