A method of inverse kinematics solution including singular and multiple configurations for a class of robotic manipulators

Date

2000-09-01

Author

Balkan, Raif Tuna
Özgören, Mustafa Kemal
Arıkan, Mehmet Ali Sahir

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

194
views

0
downloads

A semi-analytical method and an associated computer program are developed for inverse kinematics solution of a class of robotic manipulators, in which four joint variables are contained in the wrist point equations. For this case, it becomes possible to express all the other joint variables in terms of a selected one. and this reduces the inverse kinematics problem to solving a non-linear scalar equation having the selected joint variable as the only unknown. The solution can be obtained by iterative methods and the remaining joint variables can easily be computed by using the solved joint variable. Since the method is manipulator dependent, the equations will be different for kinematically different classes of manipulators, and should be obtained analytically in a similar way as done here, using the suggested algebra based on exponential rotation matrices. A significant benefit of the method is that the singular configurations and multiple solutions indicated by sign ambiguities can be determined while deriving the inverse kinematic expressions. The developed method is applied to a six-revolute-joint industrial robot, FANUC Arc Mate Sr.

Subject Keywords

Robotic manipulators, Inverse kinematics, Semi-analytical inverse kinematics, Exponential rotation matrices

URI

https://hdl.handle.net/11511/31717

Journal

MECHANISM AND MACHINE THEORY

DOI

https://doi.org/10.1016/s0094-114x(99)00079-8

Collections

Graduate School of Natural and Applied Sciences, Article

Suggestions

OpenMETU
Core

A coordinate transformation approach for efficient repeated solution of Helmholtz equation pertaining to obstacle scattering by shape deformations Ozgun, Ozlem; Kuzuoğlu, Mustafa (2014-06-01) A computational model is developed for efficient solutions of electromagnetic scattering from obstacles having random surface deformations or irregularities (such as roughness or randomly-positioned bump on the surface), by combining the Monte Carlo method with the principles of transformation electromagnetics in the context of finite element method. In conventional implementation of the Monte Carlo technique in such problems, a set of random rough surfaces is defined from a given probability distribution; ...
Improved performance of Bayesian solutions for inverse Electrocardiography using multiple information sources Serinağaoğlu Doğrusöz, Yeşim; MACLEOD, Robert (2006-10-01) The usual goal in inverse electrocardiography (ECG) is to reconstruct cardiac electrical sources from body surface potentials and a mathematical model that relates the sources to the measurements. Due to attenuation and smoothing that occurs in the thorax, the inverse ECG problem is ill-posed and imposition of a priori constraints is needed to combat this ill-posedness. When the problem is posed in terms of reconstructing heart surface potentials, solutions have not yet achieved clinical utility; limitation...
A numerically efficient frequency domain method for analysis of non Linear multi degree of freedom systems Özer, Mehmet Bülent (2012-08-15) Linear structural models contain mass, stiffness and damping matrices as well as a forcing vector. Once these matrices and the forcing vector are known, the response can be calculated through the methods of linear algebra. The system matrices of the linear model do not contain any terms that depend on the system response vector, therefore the calculation of the system response do not require an iterative procedure. On the other hand, frequency domain analysis of non-linear structural models generally contai...
A Karhunen-Loeve-based approach to numerical simulation of transition in Rayleigh-Benard convection Tarman, HI (2003-06-01) A Karhunen-Loeve ( K - L) basis is generated empirically, using a database obtained by numerical integration of Boussinesq equations representing Rayleigh - Benard convection in a weakly turbulent state in a periodic convective box with free upper and lower surfaces. This basis is then used to reduce the governing partial differential equation (PDE) into a truncated system of amplitude equations under Galerkin projection. In the generation and implementation of the basis, the symmetries of the PDE and the g...
A discontinuous Galerkin method for optimal control problems governed by a system of convection-diffusion PDEs with nonlinear reaction terms Yücel, Hamdullah; BENNER, Peter (2015-11-01) In this paper, we study the numerical solution of optimal control problems governed by a system of convection-diffusion PDEs with nonlinear reaction terms, arising from chemical processes. The symmetric interior penalty Galerkin (SIPG) method with upwinding for the convection term is used as a discretization method. We use a residual-based error estimator for the state and the adjoint variables. An adaptive mesh refinement indicated by a posteriori error estimates is applied. The arising saddle point system...

Citation Formats

R. T. Balkan, M. K. Özgören, and M. A. S. Arıkan, “A method of inverse kinematics solution including singular and multiple configurations for a class of robotic manipulators,” MECHANISM AND MACHINE THEORY, pp. 1221–1237, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31717.