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

2000-09-01
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.
MECHANISM AND MACHINE THEORY

Suggestions

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 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; ...
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 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...
An improved method for inference of piecewise linear systems by detecting jumps using derivative estimation
Selcuk, A. M.; Öktem, Hüseyin Avni (Elsevier BV, 2009-08-01)
Inference of dynamical systems using piecewise linear models is a promising active research area. Most of the investigations in this field have been stimulated by the research in functional genomics. In this article we study the inference problem in piecewise linear systems. We propose first identifying the state transitions by detecting the jumps of the derivative estimates, then finding the guard conditions of the state transitions (thresholds) from the values of the state variables at the state transitio...
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.