Analytical Inverse Kinematics for a 5-DoF Robotic Arm with a Prismatic Joint
Cornell University（康奈尔大学）
Vighnesh Vatsal, Guy Hoffman
备注：
This is a technical report released by the Human-Robot Collaboration and Companionship (HRC^2) Lab, Sibley School of Mechanical and Aerospace Engineering, Cornell University
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a wearable usage context. Generally, the IK problem for a 5-DoF robot does not guarantee solutions due to the system being over-constrained. We obtain an analytical solution by applying geometric projections and limiting the ranges of motion for each DoF. We validate this solution by reconstructing randomly sampled end-effector poses, and find position errors below 2 cm and orientation errors below 4 degrees.
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and robotics. With the vast advances of artificial neural networks (NNs), many researchers recently turned to data-driven approaches to solving the IK problem. Unfortunately, NNs become inadequate for robotic arms with redundant Degrees-of-Freedom (DoFs). This is because such arms may have multiple angle solutions to reach the same desired pose, while typical NNs on…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；McGill University（麦吉尔大学）
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is optimized to replace ball-screws in Orthoglide, a three-DOF parallel robot optimized for machining applications.
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；McGill University（麦吉尔大学）
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is intended to replace the ball-screws in Orthoglide, a three-dof parallel robot intended for machining applications.
Zhejiang University（浙江大学）；ABB Corporate Research Center（ABB企业研究中心）
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University of Maryland at College Park（马里兰大学帕克分校）；University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）
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Laboratoire des Sciences du Numérique de Nantes（南特数字科学实验室）；Dalian Huarui Heavy Industry Technical Centre（大连华锐重工技术中心）
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Ubtech Robotics Corp.（优必选机器人公司）；Tsinghua University（清华大学）；Beijing Innovation Center for Future Chips, Tsinghua University（清华大学北京未来芯片创新中心）
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Changzhou University（常州大学）；Nanjing Vocational Institute of Mechatronic Technology（南京机电职业技术学院）；Dalian University of Technology（大连理工大学）；Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）
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Changzhou University（常州大学）；CNRS（法国国家科学研究中心）；Dalian University of Technology（大连理工大学）
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Design And Control of A Robotic Arm For Industrial Applications
CMR Technical Campus（CMR技术学院）；JNTUH University College of Engineering, Science & Technology Hyderabad（贾瓦哈拉尔·尼赫鲁科技大学海得拉巴工程科学与技术学院）；Holy Mary Institute of Technology（圣玛丽技术学院）
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QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning
Nanyang Technological University（南洋理工大学）；NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics（南洋理工大学-维纳大学具身智能与机器人联合研究实验室）；VinUniversity（维纳大学）
University of Zagreb Faculty of Electrical Engineering and Computing（萨格勒布大学电气工程与计算学院）
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect…
Competitive Task Allocation with Temporal Proposal Windows and Improved Artificial Potential Fields for Dual-Arm Industrial Manipulation
School of Mechanical and Materials Engineering, IIT Mandi（印度理工大学曼迪分校机械与材料工程学院）；R&D, Addverb Technologies Limited（Addverb科技有限公司研发部）；Centre for Artificial Intelligence and Robotics, IIT Mandi（印度理工大学曼迪分校人工智能与机器人中心）；R&D 4IR, Dubai Electricity & Water Authority（迪拜水电局第四次工业革命研发部）
KIST（韩国科学技术研究院）；Georgia Institute of Technology（佐治亚理工学院）
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion characteristics in redundant robot arm systems as well as arm-trunk systems for reaching tasks [1], [2]. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as t…
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MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械工程学院）；Shanghai AI Laboratory（上海人工智能实验室）；Lenovo Corporation（联想公司）；Institute of Artificial Intelligence (TeleAI), China Telecom（中国电信人工智能研究院（TeleAI））
University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability distributions. We present a fast new algorithm for a pair of convex objects, and extend the approach to non-convex models using hierarchical representations. We highlight the performance of our algorithms with various convex and non-convex shapes on complex synthetic benchmarks and trajectory planning benchmarks for a 7-DOF Fetch robot arm.
Quantum Machine Learning and Grover's Algorithm for Quantum Optimization of Robotic Manipulators
Robotics Research Center of Yuyao（余姚机器人研究中心）；Robotics Institute of Zhejiang University（浙江大学机器人研究所）；State Key Laboratory of Fluid Power and Mechatronic Systems（流体动力与机械电子系统国家重点实验室）；Institute of Design Engineering（设计工程院）；University of New Brunswick（新不伦瑞克大学）
Western Macedonia Univ. of Applied Sciences（西马其顿应用科学大学）
The purpose of this paper is to present the construction and programming of a five degrees of freedom robotic arm which interacts with an infrared sensor for the identification and sorting of different sized objects. The main axis of the construction design will be up to the three main branches of science that make up the Mechatronics: Mechanical Engineering, Electronic-Electrical Engineering and Computer Engineering. The methods that have been used for the construction are presented as well as the methods for the programming of the arm in cooperation with the sensor. The aim is to present the…
KU Leuven – University of Leuven（鲁汶大学）；University of Cambridge（剑桥大学）
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development of particular geometric strategies that cannot be generalized to arbitrary serial robots. In this work, we present a compact, elegant and intuitive formulation of robot kinematics based on conformal geometric algebra that provides a suitable framework for the closed-form resolution of the inverse kinematic problem for manipulators with a spherical wrist. For…
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical methods which have significant shortcomings. Here we report a new symbolic inverse kinematics solver which overcomes the limitations of numerical methods, and the shortcomings of previous symbolic software packages. We integrate Behavior Trees, an execution planning framework previously used for controlling intelligent robot behavior, to organize the equation s…
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