Engineering › Control and Systems Engineering

Robotic Mechanisms and Dynamics

Works Count: 59300

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Description

This cluster of papers focuses on the kinematic and dynamic analysis, control, optimization, and calibration of robot manipulators, with an emphasis on redundant robots, parallel mechanisms, neural network applications, trajectory planning, workspace analysis, and stiffness optimization.

Keywords

Robot Manipulators; Kinematic Analysis; Dynamic Modeling; Redundant Robots; Parallel Mechanisms; Neural Networks; Trajectory Planning; Workspace Analysis; Stiffness Optimization; Calibration

Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

2003-01-01

Jorge Angeles

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A Mathematical Introduction to Robotic Manipulation

2017-12-14

Richard M. Murray , Zexiang Li , Shankar Sastry

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the … A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

On-Line Computational Scheme for Mechanical Manipulators

1980-06-01

J.Y.S. Luh , Michael Walker , Richard P. Paul

Industrial robots are mechanical manipulators whose dynamic characteristics are highly nonlinear. To control a manipulator which carries a variable or unknown load and moves along a planned path, it is … Industrial robots are mechanical manipulators whose dynamic characteristics are highly nonlinear. To control a manipulator which carries a variable or unknown load and moves along a planned path, it is required to compute the forces and torques needed to drive all its joints accurately and frequently at an adequate sampling frequency (no less than 60 Hz for the arm considered). This paper presents a new approach of computation based on the method of Newton-Euler formulation which is independent of the type of manipulator-configuration. This method involves the successive transformation of velocities and accelerations from the base of the manipulator out to the gripper, link by link, using the relationships of moving coordinate systems. Forces are then transformed back from the gripper to the base to obtain the joint torques. Theoretically the mathematical model is “exact”. A program has been written in floating point assembly language which has an average execution time of 4.5 milliseconds on a PDP 11/45 computer for a Stanford manipulator. This allows an on-line computation within control systems with a sampling frequency no lower than 60 Hz. A further advantage of using this method is that the amount of computation increases linearly with the number of links whereas the conventional method based on Lagrangian formulation increases as the quartic of the number of links.

Minimum-time control of robotic manipulators with geometric path constraints

1985-06-01

Kang G. Shin , Neil David McKay

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking (or path control). This division has been adopted mainly as a means of … Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking (or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, coupled manipulator dynamics. Trajectory planning usually determines the timing of manipulator position and velocity without considering its dynamics. Consequently, the simplicity obtained from the division comes at the expense of efficiency in utilizing robot's capabilities. To remove at least partially this inefficiency, this paper considers a solution to the problem of moving a manipulator in minimum time along a specified geometric path subject to input torque/force constraints. We first describe the manipulator dynamics using parametric functions which represent geometric path constraints to be honored for collision avoidance as well as task requirements. Second, constraints on input torques/ forces are converted to those on the parameters. Third, the minimum-time solution is deduced in an algorithm form using phase-plane techniques. Finally, numerical examples are presented to demonstrate utility of the trajectory planning method developed.

Kinematic Synthesis of Linkages

1965-06-01

R. S. Hartenburg , J. Denavit , F. Freudenstein

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Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

1985-09-01

Anthony A. Maciejewski , Charles A. Klein

The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibil ity in motion control … The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibil ity in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidance in the context of a specified end-effector trajectory as the task description. Such a task definition is a more accurate model for such tasks as spray painting or arc weld ing. The approach presented here is to determine the re quired joint angle rates for the manipulator under the con straints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria. The decomposition of the solution into a particular and a homogeneous component effectively illustrates the priority of the multiple goals that is exact end-effector control with redundant degrees of freedom maximizing the distance to obstacles. An efficient numerical implementation of the technique permits sufficiently fast cycle times to deal with dynamic environments.

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Adaptive manipulator control: A case study

1988-01-01

J.-J.E. Slotine , Weiping Li

The author's previous work (1986, 1987) utilized the particular structure of manipulator dynamics to develop a simple, globally convergent adaptive controller for manipulator trajectory control problems. After summarizing the basic … The author's previous work (1986, 1987) utilized the particular structure of manipulator dynamics to develop a simple, globally convergent adaptive controller for manipulator trajectory control problems. After summarizing the basic algorithm, they demonstrate the approach on a high-speed two-degree-of-freedom semi-direct-drive robot. They show that the dynamic parameters of the manipulator, assumed to be initially unknown, can be estimated within the first half second of a typical run, and that accordingly, the manipulator trajectory can be precisely controlled. These experimental results demonstrate that the adaptive controller enjoys essentially the same level of robustness to unmodeled dynamics as a PD (proportional and differential) controller, yet achieves much better tracking accuracy than either PD or computed-torque schemes. Its superior performance for high-speed operations, in the presence of parametric and nonparametric uncertainties, and its relative computational simplicity, make it an attractive option both for addressing complex industrial tasks, and for simplifying high-level programming of more standard operations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

A robotics toolbox for MATLAB

1996-03-01

Peter Corke

The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, … The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.

Introduction to ROBOTICS mechanics and control

1987-05-01

John Baillieul

Efficient Dynamic Computer Simulation of Robotic Mechanisms

1982-09-01

Michael Walker , David E. Orin

The Newton-Euler formulation of the equations of motion of an open-loop kinematic chain is used within a dynamic computer simulation of a robotic mechanism. Four different methods are presented for … The Newton-Euler formulation of the equations of motion of an open-loop kinematic chain is used within a dynamic computer simulation of a robotic mechanism. Four different methods are presented for obtaining the joint variable accelerations given the joint positions, velocities, and input torques or forces. Each of these methods was programmed in FORTRAN and then executed on a CYBER 175 digital computer. This paper contains a comparison of the computational complexity of these methods and the execution time of the programs which implement them.

Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

1986-09-01

Yoshihiko Nakamura , Hideo Hanafusa

The singularity problem is an inherent problem in controlling robot manipulators with articulated configuration. In this paper, we propose to determine the joint motion for the requested motion of the … The singularity problem is an inherent problem in controlling robot manipulators with articulated configuration. In this paper, we propose to determine the joint motion for the requested motion of the endeffector by evaluating the feasibility of the joint motion. The determined joint motion is called an inverse kinematic solution with singularity robustness, because it denotes feasible solution even at or in the neighborhood of singular points. The singularity robust inverse (SR-inverse) is introduced as an alternative to the pseudoinverse of the Jacobian matrix. The SR-inverse of the Jacobian matrix provides us with an approximating motion close to the desired Cartesian trajectory of the endeffector, even when the inverse kinematic solution by the inverse or the pseudoinverse of the Jacobian matrix is not feasible at or in the neighborhood of singular points. The properties of the SR-inverse are clarified by comparing it with the inverse and the pseudoinverse. The computational complexity of the SR-inverse is considered to discuss its implementability. Several simulation results are also shown to illustrate the singularity problem and the effectiveness of the inverse kinematic solution with singularity robustness.

Introduction to robotics: Mechanics and control

1987-04-01

F.L. Merat

Structural Kinematics of In-Parallel-Actuated Robot-Arms

1983-12-01

K. H. Hunt

An alternative is here put forward to counterbalance the present-day preoccupation with series-actuated robot-arms. A systematic study of robots and manipulators, now concentrating on “in-parallel” actuator-arrangements, reveals many geometries applicable … An alternative is here put forward to counterbalance the present-day preoccupation with series-actuated robot-arms. A systematic study of robots and manipulators, now concentrating on “in-parallel” actuator-arrangements, reveals many geometries applicable either to entire robot-arms or to parts of otherwise series-actuated arms. No survey of this kind is possible without drawing heavily on the theory of screw systems. Having established a means of enumerating possible geometries, screw theory is again invoked to highlight, in broad terms, the patterns considered to be most promising. Criteria for avoiding undesirable robot-arm-configurations are touched upon, and certain aspects of the performance of in-parallel-actuated robot-arms are compared and contrasted with those of series-actuated arms. Within the bounds here set (thought to be realistic) the survey on its own is intended to be exhaustive, but many details remain to be investigated. This paper aims to do no more than edge open the door a little further towards in-parallel actuation in robot-arms; others may then consider that further study could be productive.

Task-Priority Based Redundancy Control of Robot Manipulators

1987-06-01

Yoshihiko Nakamura , Hideo Hanafusa , Tsuneo Yoshikawa

In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant … In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators. A required task is divided into subtasks according to the order of priority. We propose to determine the joint motions of robot manipulators so that subtasks with lower priority can be performed utilizing re dundancy on subtasks with higher priority. This procedure is formulated using the pseudoinverses of Jacobian matrices. Most problems of redundancy utilization can be formulated in the framework of tasks with the order of priority. The results of numerical simulations and experiments show the effectiveness of the proposed redundancy control scheme.

A New Feedback Method for Dynamic Control of Manipulators

1981-06-01

Morikazu Takegaki , Suguru Arimoto

A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics. It is first shown that a linear feedback of generalized coordinates and their derivatives … A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics. It is first shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large. Next, we propose a method for task-oriented coordinate control which can be easily implemented by a micro-computer and is suited to sensor feedback control. The proposed method is applicable even when holonomic constraints are added to the system. Effectiveness of the proposed method is verified by computer simulation.

Spatial control of arm movements

1981-04-01

Pietro Morasso

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A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

1991-09-01

Clément Gosselin , Jorge Angeles

In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the … In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the kinematic and static transformations between the joint and Cartesian spaces. Moreover, the index proposed here, termed global conditioning index (CGI), is meant to assess the distribution of the aforementioned condition number over the whole workspace. Furthermore, the concept of a global index is applicable to other local kinematic or dynamic indices. The index introduced here is applied to a simple serial two-link manipulator, to a spherical three-degree-of-freedom serial wrist, and to three-degree-of-freedom parallel planar and spherical manipulators. Results of the optimization of these manipulators, based on the GCI, are included.

A Platform with Six Degrees of Freedom

1965-06-01

Daxton R. Stewart

This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular … This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude. Variations in control arrangements are described and their respective design merits considered. Other possible uses for this mechanism are mentioned, including automation of production.

A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity

1980-01-01

John M. Hollerbach

An efficent Lagangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relatons for the velocities, accelerations, and generalized forces. The number of additons and multiplicatins varies … An efficent Lagangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relatons for the velocities, accelerations, and generalized forces. The number of additons and multiplicatins varies linearly with the number of joint, as opposed to past Lagrangian dynamics formulations with an n4 dependence. Wih this formulation it should be possible in principle to compute the Lagrangian dynamics in real time. The computational complexities of this and other dynamics formulations including rect Newton-Euler formulations and tabular formulations are compared. It Is concluded that recursive formultions based either on the Lagrangian or Newton-Euler dynamics offer the best method of dynamns calculation.

Articulated Hands

1982-03-01

J. Kenneth Salisbury , John Craig

Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within … Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.

A discussion of the solution for the best rotation to relate two sets of vectors

1978-09-01

Wolfgang Kabsch

A method is discussed for obtaining the best proper rotation to relate two sets of vectors. A method is discussed for obtaining the best proper rotation to relate two sets of vectors.

A unified approach for motion and force control of robot manipulators: The operational space formulation

1987-02-01

Oussama Khatib

A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks … A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.

Robotics: modelling, planning and control

2009-07-01

Bruno Siciliano , L. Sciavicco , Luigi Villani +1 more

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. … The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses: the fundamentals: kinematics, statics and trajectory planning; and the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in: dynamics and motion control of robot manipulators; mobile robots; motion planning; and interaction with the environment using exteroceptive sensory data (force and vision). Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a solutions manual (downloadable from www.springer.com/978-1-84628-641-4) containing the MATLAB code for computer problems; this is available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.

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Time-Optimal Control of Robotic Manipulators Along Specified Paths

1985-09-01

J.E. Bobrow , Steven Dubowsky , J.S. Gibson

The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a … The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorithm allows bounds on the torques that may be arbitrary functions of the joint angles and angular velocities. This method is valid for any path and orientation of the end- effector that is specified. The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given position on the path.

Adaptive Control of Mechanical Manipulators

1987-06-01

John Craig , Ping‐Yu Hsu , Shankar Sastry

When an accurate dynamic model of a mechanical manipu lator is available, it may be used in a nonlinear, model-based scheme to control the manipulator. Such a control formula tion … When an accurate dynamic model of a mechanical manipu lator is available, it may be used in a nonlinear, model-based scheme to control the manipulator. Such a control formula tion yields a controller that suppresses disturbances and tracks desired trajectories uniformly in all configurations of the manipulator. Use of a poor dynamic model with this kind of model-based decoupling and linearizing scheme, however, may result in performance that is inferior to a much simpler, fixed-gain scheme. In this paper, we develop a parameter-adaptive control scheme in a set of adaptive laws that can be added to the nonlinear, model-based controller. The scheme is unique be cause it is designed specifically for the nonlinear, model- based controller and has been proven stable in a full, nonlin ear setting. After adaptation, the error dynamics of the joints are decoupled with uniform disturbance rejection in all ma nipulator configurations. The issues of sufficient excitation and the effect of disturbances are also discussed. The theory is demonstrated with simulation results and also with data from an implementation for an industrial robot, the Adept One.

Review of pseudoinverse control for use with kinematically redundant manipulators

1983-03-01

Charles A. Klein , Chong Huang

Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are … Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.

Resolved-acceleration control of mechanical manipulators

1980-06-01

J. Luh , Michael Walker , Rohan Paul

Position control of a manipulator involves the practical problem of solving for the correct input torques to apply to the joints for a set of specified positions, velocities, and accelerations. … Position control of a manipulator involves the practical problem of solving for the correct input torques to apply to the joints for a set of specified positions, velocities, and accelerations. Since the manipulator is a nonlinear system whose joints are highly coupled, it is very difficult to control. This paper presents a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls. The method deals directly with the position and orientation of the hand. It differs from others in that accelerations are specified and that all the feedback control is done at the hand level. The control algorithm is shown to be asymptotically convergent. A PDP 11/45 computer is used as part of a controller which computes the input torques/forces at each sampling period for the control system using the Newton-Euler formulation of equations of motion. The program is written in floating point assembly language, and has an average execution time of less than 11.5 ms for a Stanford manipulator. This makes a sampling frequency of 87 Hz possible. The controller is verified by an example which includes a simulated manipulator.

A solution for the best rotation to relate two sets of vectors

1976-09-01

Wolfgang Kabsch

A simple procedure is derived which determines a best rotation of a given vector set into a second vector set by minimizing the weighted sum of squared deviations. The method … A simple procedure is derived which determines a best rotation of a given vector set into a second vector set by minimizing the weighted sum of squared deviations. The method is generalized for any given metric constraint on the transformation.

Singularity analysis of closed-loop kinematic chains

1990-06-01

Clément Gosselin , Jorge Angeles

The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the … The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

A new technique for fully autonomous and efficient 3D robotics hand/eye calibration

1989-06-01

R. Tsai , R. Lenz

The authors describe a novel technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration. It takes only … The authors describe a novel technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration. It takes only about 100+64N arithmetic operations to compute the hand/eye relationship after the robot finishes the movement, and incurs only additional 64 arithmetic operations for each additional station. The robot makes a series of automatically planned movements with a camera rigidly mounted at the gripper. At the end of each move, it takes a total of 90 ms to grab an image, extract image feature coordinates, and perform camera extrinsic calibration. After the robot finishes all the movements, it takes only a few milliseconds to do the calibration. A series of generic geometric properties or lemmas are presented, leading to the derivation of the final algorithms, which are aimed at simplicity, efficiency, and accuracy while giving ample geometric and algebraic insights. Critical factors influencing the accuracy are analyzed, and procedures for improving accuracy are introduced. Test results of both simulation and real experiments on an IBM Cartesian robot are reported and analyzed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices

1955-06-01

J. Denavit , R. S. Hartenberg

Abstract A symbolic notation devised by Reuleaux to describe mechanisms did not recognize the necessary number of variables needed for complete description. A reconsideration of the problem leads to a … Abstract A symbolic notation devised by Reuleaux to describe mechanisms did not recognize the necessary number of variables needed for complete description. A reconsideration of the problem leads to a symbolic notation which permits the complete description of the kinematic properties of all lower-pair mechanisms by means of equations. The symbolic notation also yields a method for studying lower-pair mechanisms by means of matrix algebra; two examples of application to space mechanisms are given.

OBSERVATIONS ON THE FUNCTION OF THE SHOULDER JOINT

1944-01-01

Verne T. Inman , John B. Saunders , Leroy C. Abbott

Efficient BackProp

1998-01-01

Yann LeCun , Léon Bottou , Genevieve Orr +1 more

Similarity and Dimensional Methods in Mechanics

1959-01-01

Modelling and Control of Robot Manipulators

2000-01-01

L. Sciavicco , Bruno Siciliano

Robotics

2008-11-06

Bruno Siciliano , L. Sciavicco , Luigi Villani +1 more

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano

Motion Control for Advanced Mechatronics

2018-06-01

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Similarity and Dimensional Methods in Mechanics

2018-05-04

L. I. Sedov

Similiarity and Dimensional Methods in Mechanics, 10th Edition is an English language translation of this classic volume examining the general theory of dimensions of physical quantities, the theory of mechanical … Similiarity and Dimensional Methods in Mechanics, 10th Edition is an English language translation of this classic volume examining the general theory of dimensions of physical quantities, the theory of mechanical and physical similarity, and the theory of modeling. Several examples illustrate the use of the theories of similarity and dimensions for establishing fundamental mechanical regularities in aviation, explosions, and astrophysics, as well as in the hydrodynamics of ships. Other interesting areas covered include the general theory of automodel motions of continuum media, the theory of propagation of explosion waves in gases, the theory of one-dimensional nonestablished motion in gases, the fundamentals of the gas-dynamics theory of atom-bomb explosion in the atmosphere and the theory of averaging of gaseous flows in channels. Aspects of modeling include the dimensionless characteristics of compressor operation, the theories of engine thrust, and efficiency of an ideal propeller for subsonic and supersonic speeds. Similiarity and Dimensional Methods in Mechanics, 10th Edition is an ideal volume for researchers and students involved in physics and mechanics.

Robot Dynamics Algorithms

1987-01-01

Roy Featherstone

Dynamic Modeling and Analysis of Industrial Robots for Enhanced Manufacturing Precision

2025-06-24

Clemens Birk , Martin Kipfmüller , J. Kotschenreuther | Actuators

This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial … This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial acceleration measurements, 360 frequency response functions were recorded along orthogonal measurement paths for a KUKA KR10 robot. Two dynamic models with different parameter dimensions (12-parameter and 24-parameter) were developed in Matlab/Simscape, and their parameters were identified using genetic algorithm optimization. The KUKA KR10 features Harmonic Drives at each joint, whose high transmission ratio and zero backlash characteristics significantly influence rotational dynamics and allow for meaningful static structural measurements. Objective functions based on the Frequency Response Assurance Criterion (FRAC) and Root Mean Square Error (RMSE) metrics were employed, utilizing a frequency-dependent weighting function. The performance of the models was evaluated across different robot configurations and frequency ranges. The 24-parameter model demonstrated significantly superior performance, achieving 70% overall average Global FRAC in the limited frequency range (≤200 Hz) compared to 41% for the 12-parameter model when optimized using a representative subset of 9 measurement points. Both models showed substantially better performance in the limited frequency range than in the full spectrum. This research provides a validated methodology for dynamic characterization of industrial robots and demonstrates that higher-dimensional models, incorporating transverse joint compliance, can accurately represent robot dynamics up to approximately 200 Hz. Future work will investigate nonlinear effects such as torsional stiffness hysteresis, particularly relevant for Harmonic Drive systems.

Energy Efficient Design of Single Degree of Freedom Mechanisms

2025-06-24

Vigen Arakelian | WSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS

Design for low-energy consumption is certainly not a new research field, yet it remains one of the most challenging. The synthesis of mechanisms with minimum-effort motions is one of the … Design for low-energy consumption is certainly not a new research field, yet it remains one of the most challenging. The synthesis of mechanisms with minimum-effort motions is one of the most promising areas. The aim of this study is to develop a new design technique to reduce the power consumption of actuators in mechanisms with a single degree of freedom. To achieve this, the prescribed variable speed of the input link is used. By controlling the movement of the input link with a prescribed velocity - defined to maintain constant kinetic energy in the mechanism—the input torque due to inertial effects is canceled. The originality of this approach lies in the fact that the mechanism is designed using traditional methods, while the cancellation of the actuating torque is achieved solely through optimal motion control of the input link. The effectiveness of the proposed solution is illustrated through CAD simulations.

Online optimization of minimum-time and minimum-energy trajectories for a 1-DOF belt-driven robotic system

2025-06-23

Giuliano Fabris , Lorenzo Scalera , Alessandro Gasparetto | Robotica

Abstract Trajectory optimization is a critical research area in robotics and automation, especially in manufacturing industries where mechanical systems are often required to minimize the execution time or the consumed … Abstract Trajectory optimization is a critical research area in robotics and automation, especially in manufacturing industries where mechanical systems are often required to minimize the execution time or the consumed energy. In this context, the most common mechanical systems are those with a single degree of freedom because of their simplicity and ease of control. In this paper, we present an approach for the online optimization of minimum-time and minimum-energy trajectories for a robotic system with one degree of freedom. Point-to-point motions of the considered linear axis are planned online, without idle times, by leveraging a verified dynamic model of the robotic system, which also includes an accurate identification of friction parameters. Both minimum-time and minimum-energy trajectories are considered, and the performance of the online optimization using a selected open-source optimization tool is verified in different dynamic conditions of the system. The results of extensive experiments on a belt-driven robotic axis demonstrate the feasibility and the energy-saving capabilities of the proposed approach, as well as the flexibility of the online trajectory optimization in different scenarios, while meeting the kinematics and dynamics limits of the system and guaranteeing low computational time.

Decentralized dynamic trajectory optimization of the coordinated manipulator via analytical reinforcement method

2025-06-23

Xingyu Zhang , Luchuan Yu , Shenquan Huang +1 more | Robotica

Abstract Efficient local trajectory optimization of the coordinated manipulator is a bottleneck task in the narrow feeding scenario. To optimize the trajectory locally and generate collision-free trajectories with local support … Abstract Efficient local trajectory optimization of the coordinated manipulator is a bottleneck task in the narrow feeding scenario. To optimize the trajectory locally and generate collision-free trajectories with local support performance, the analytical reinforcement method is proposed. Firstly, multiple coordinated machines operating in the narrow space are transformed into decentralized dynamic constraints for the target manipulator. Combined with the circle envelope method in the dynamic constraint, the collision-free gradient optimization function determines the support region of the local optimal trajectory. Based on the forward kinematics and inverse kinematics method, the collision-prone pose of the target manipulator outside the support region is analytically optimized. And chi-square distribution further ensures the smooth interpolation of the variable-period trajectory outside the fixed-period support region. For the emergency collision avoidance of the coordinated manipulator in the flexible stamping line, the analytical reinforcement method is successfully verified by generating the collision-free and smooth trajectory. It provides an optimization direction for rapidly improving the work efficiency of multi-machine coordination in the narrow feeding scenario.

Accelerated Computation of Linear Complementarity Problem in Dexterous Robotic Grasping via Newton-Subgradient Non-Smooth Multi-Step Greedy Kaczmarz Method

2025-06-22

Zhiwei Ai , Chenliang Li | Actuators

Real-time computational capability for simultaneous grasping force and displacement determination constitutes a critical enabler for stable and reliable grasping performance in dexterous robotic grasping. To accelerate the computational efficiency of … Real-time computational capability for simultaneous grasping force and displacement determination constitutes a critical enabler for stable and reliable grasping performance in dexterous robotic grasping. To accelerate the computational efficiency of LCP in the dexterous grasping problem, as well as to ensure the stability and reproducibility of the algorithm’s output, the NSNMGK method, which incorporates sequential projection iterations across all greedy-selected active constraint rows within each NSNGRK framework iteration cycle, is developed. In each NSNMGK iteration, sequential projection operations are systematically applied to all active constraint rows, satisfying the greedy criterion. This processing strategy ensures the full utilization of qualifying constraints within the greedy subset through a same generalized Jacobian evaluation per iteration cycle. The methodology effectively mitigates inherent limitations of conventional randomized row selection, including unpredictable iteration counts and computational overhead from repeated Jacobian updates, while maintaining deterministic convergence behavior. The method’s convergence theory is rigorously established, with benchmark analyses demonstrating marked improvements in computational efficiency over the NSNGRK framework. Experimental validation in dexterous robotic grasping scenarios further confirms enhanced convergence rates through reduced iteration counts and shortened computational durations relative to existing approaches.

Determination of maximum virtual coefficients in motion-force interaction performance indices for parallel mechanisms

2025-06-21

Qizhi Meng , Andrés Kecskeméthy | Mechanism and Machine Theory

Multi-objective optimisation of complex mechanisms using Moving Spheres: An application to suspension elasto-kinematics

2025-06-20

Lorenzo De Santanna , Massimiliano Gobbi , Riccardo Malacrida +1 more | Advances in Engineering Software

On HAP triangles

2025-06-20

Emrys Read | The Mathematical Gazette

It is a well known and easily verifiable fact that not all integer triangles have integer areas. Consider the triangles with sides {9, 10, 17}, {13, 14, 15}, {5, 7, … It is a well known and easily verifiable fact that not all integer triangles have integer areas. Consider the triangles with sides {9, 10, 17}, {13, 14, 15}, {5, 7, 8} and {6, 7, 9} with respective areas 36, 84, and . The first two, whose areas are integers, are called Heronian triangles. The second triangle also has the additional property that its sides are consecutive integers and is an example of a Brahmagupta triangle, named after an Indian mathematician, born in AD 598. These are called Super-Heronian triangles in [1] and a method is developed there for generating examples of such triangles.

Robust Parameter Estimation of Newton’s Rings

2025-06-19

Debasis Kundu | Circuits Systems and Signal Processing

Robotized Incremental Sheet Forming trajectory control using deep neural network for force/torque compensator and task-space error tracking controller

2025-06-19

Xuan Dung To , Jefferson Roman Blanco , Sandra Zimmer-Chevret +4 more | Mechatronics

Type synthesis of closed-loop robots for machining and manufacturing of complex quadric surfaces

2025-06-18

Jiahao Song , Shuofei Yang , Yuheng Zhang +2 more | Robotica

Abstract This paper presents a general approach to synthesizing closed-loop robots for machining and manufacturing of complex quadric surfaces, such as toruses, helicoids, and helical tubes. The proposed approach begins … Abstract This paper presents a general approach to synthesizing closed-loop robots for machining and manufacturing of complex quadric surfaces, such as toruses, helicoids, and helical tubes. The proposed approach begins by employing finite screw theory to describe the motion sets generated by prismatic, rotational, and helical joints. Subsequently, generatrices and generating lines are put forward and combined for type synthesis of serial kinematic limbs capable of generating single-DoF translations along spatial curves and two-DoF translations on complex quadric surfaces. Following this manner, the two-DoF translational motion patterns on these complex quadric surfaces are algebraically defined and expressed as finite screw sets. Type synthesis of close-loop robots having the newly defined motion patterns can thus be carried out based upon analytical computations of finite screws. As application of the presented approach, closed-loop robots for machining toruses are synthesized, resulting in four-DoF and five-DoF standard and derived limbs together with their corresponding assembly conditions. Additionally, brief descriptions of robots for machining helicoids and helical tubes are provided, along with a comprehensive list of all the feasible limbs for these kinds of robots. The robots synthesized in this paper have promised applications in machining and manufacturing of spatial curves and surfaces, enabling precise control of machining trajectories ensured by mechanism structures and achieving high precision with low cost.

A dual geometric test for forward-flatness

2025-06-17

Bernd Kolar , Johannes Schrotshamer , Markus Schöberl | Automatica

Illustration of SBMPO Motion Planning Using Dynamic Models

2025-06-17

Camilo Ordóñez , Mario Harper , J. F. Boylan +1 more | Chapman and Hall/CRC eBooks

A Lightweight Calibration and Compensation Framework for High-Precision Mobile Robotic System Under Heavy Load

2025-06-16

Yifei Cao , Zikang Shi , Ye Ding | Journal of Mechanisms and Robotics

Abstract This paper presents a novel Mobile Robotic System (MRS) with a Stewart Platform (SP), aimed at high-precision neutron diffraction applications that involve heavy loads and limited sampling resources. Existing … Abstract This paper presents a novel Mobile Robotic System (MRS) with a Stewart Platform (SP), aimed at high-precision neutron diffraction applications that involve heavy loads and limited sampling resources. Existing kinematic calibration methods predominantly address geometric errors and fail to account for non-geometric errors introduced by robot relocation or payload-induced deformations. Moreover, current non-geometric error compensation strategies typically require extensive data collection and retraining after each movement, rendering them impractical for mobile robot applications. These challenges are further exacerbated in parallel robots due to their complex kinematics, which make accurate error compensation particularly difficult. To address these gaps, we propose a data-efficient, lightweight non-geometric error compensation method based on Gaussian Process Regression (GPR) that requires only 30 samples and a single post-movement reference configuration. Additionally, this paper presents a comprehensive self-calibration framework for mobile parallel robotic systems. It includes kinematic calibration using the Product of Exponentials (POE) method before movement, a rapid automatic localization method post-movement, and non-geometric calibration to mitigate accuracy degradation at the new location. Experimental results demonstrate a significant improvement in accuracy, with the average position error of the diffractometer, reduced by over 80%, and joint coordinate errors decreased by no less than 90%.

Modular modeling of parallel mechanisms with actuation redundancy

2025-06-16

Decio de M. Rinaldi , Tarcisio Antonio Hess Coelho | Journal of the Brazilian Society of Mechanical Sciences and Engineering

Design, Kinematics and Stiffness Analysis of a Reconfigurable Cable-Driven Parallel Robot

2025-06-16

Qingjun Wu , Feng Xu , Bo Hu +1 more | Chinese Journal of Mechanical Engineering

Abstract Cable-driven parallel robots (CDPRs) have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables, workpieces and the end-effector. In order to … Abstract Cable-driven parallel robots (CDPRs) have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables, workpieces and the end-effector. In order to avoid collision and improve the flexibility of the robots, this study proposes a reconfigurable cable-driven parallel robot (RCDPR) having characteristics of large load-to-weight ratio, easy modularity and variable stiffness. Adjustable brackets are connected to the moving platform to adjust the position of the pull-out point with the movement of the end-effector. In addition, a variable stiffness actuator (VSA) accompanied by finite element analysis is designed to optimize the cable tension to adapt different task requirements. Firstly, a new idea of reconfiguration is given, and an inverse kinematic model is established using the vector closure principle to derive its inverse kinematic expressions focusing on one of the configurations. Second, the VSA is attached to each cable to achieve stiffness adjustment, and the system stiffness is derived in detail. Finally, the rationality and accuracy of the robot are verified through numerical analysis, providing a reference for subsequent trajectory planning with implications.

Accuracy Analysis and Synthesis of Planar Mechanism for Antenna Based on Screw Theory and Geometric Coordination

2025-06-16

Q. C. Li , Jing Zhang , Miao Yu +4 more | Actuators

To address the deployment accuracy issues of multi-frequency band reflector antennas, this study takes a hexagonal prism modular deployable antenna as an example and proposes an accuracy design method. This … To address the deployment accuracy issues of multi-frequency band reflector antennas, this study takes a hexagonal prism modular deployable antenna as an example and proposes an accuracy design method. This paper proposes a screw-theory-based sub-chain precision analysis method. This method constructs a virtual screw model of rod length errors and hinge gap errors. Based on geometric relationships, a multi-loop point position error model is established, and accuracy surfaces considering rod length errors and hinge gap are output using MATLAB R2024b. By outputting the relationship curves of single-rod errors relative to point errors, the linearized influence law of individual rods on precision is further elucidated. Simulation results demonstrate the reliability of the error modeling theory. Based on the established cost-effective precision model and the minimum point error, which is obtained by using the numerical iterative method, the optimal solution for error parameters is obtained.

A novel offline robust trajectory optimization index and method for underground mining cable-driven parallel robot

2025-06-14

Weihan Jia , Gang Cheng , Jun Li +3 more | Mechanism and Machine Theory

Enhancing the absolute positioning accuracy of welding robots based on joint error compensation

2025-06-13

Bingqi Jia , Haihong Pan , Yukang Cai +3 more | Engineering Applications of Artificial Intelligence

Kinematic Analysis

2025-06-10

Hamid D. Taghirad | CRC Press eBooks

Linear Motion Control

2025-06-10

Hamid D. Taghirad | CRC Press eBooks

COMPUTER GRAFOANALITIC KINEMATICAL ANALYSIS FOR FOUR-BAR LINKAGE MECHANISM

2025-06-08

Marin B. Marinov | Environment Technology Resources Proceedings of the International Scientific and Practical Conference

In this work, a methodology for calculating a class of lever mechanisms is proposed using a current software product for solving algebraic equations. They are adapted in the environment of … In this work, a methodology for calculating a class of lever mechanisms is proposed using a current software product for solving algebraic equations. They are adapted in the environment of the theory of mechanisms, where the main kinematic parameters of the articulated four-link mechanism are presented in graphical form. These parameters are linear and angular velocities and linear and angular accelerations. The work is related to the course in general and mechanical engineering at the Technical University - Gabrovo.

An adaptive meshless technique for solving bilateral obstacle problems

2025-06-06

Zhan‐Heng Chen , Dongmei Ruan , Daming Yuan | Physica Scripta

Abstract Bilateral obstacle problems are central to the study of partial differential equations (PDEs) and variational inequalities, with applications in optimal control, elasticity, and material deformation under constraints. However, solving … Abstract Bilateral obstacle problems are central to the study of partial differential equations (PDEs) and variational inequalities, with applications in optimal control, elasticity, and material deformation under constraints. However, solving them numerically presents significant challenges due to complex interactions at the contact boundaries. This study presents a meshless method for solving bilateral obstacle problems, providing an alternative to traditional finite element and finite difference approaches. A key advantage of this method is its ability to adaptively refine the free surfaces between contact regions, which enables more accurate simulations. The modified finite-particle method (MFPM) is applied for discretization, and the Picard iteration technique is used to solve the resulting system. Numerical experiments show that MFPM achieves second-order accuracy, similar to central difference methods, while offering better energy efficiency, particularly when refining surfaces between coincident and non-coincident regions. This approach provides a flexible and computationally efficient tool for tackling complex obstacle problems in various physical and engineering contexts.&#xD;&#xD;

STIFFNESS MODELING OF INDUSTRIAL ROBOTS BASED ON MACHINE LEARNING ALGORITHMS

2025-06-05

Integrating Kronecker product and principle of transference to solve the hand–eye calibration problem

2025-06-03

Xiao Wang , Hanwen Song | Mechanism and Machine Theory

Exploring Analytical and Deep Learning Solutions for High-Degree-of-Freedom Inverse Kinematics

2025-06-01

S. Kalaycioglu , Anton de Ruiter , Enrica Fung +2 more | Journal of Physics Conference Series

Abstract This paper presents a comparative study of analytical and deep learning (DL) approaches for solving the inverse kinematics (IK) problem in high-degree-of-freedom (DOF) robotic manipulators, focusing on the Lunar … Abstract This paper presents a comparative study of analytical and deep learning (DL) approaches for solving the inverse kinematics (IK) problem in high-degree-of-freedom (DOF) robotic manipulators, focusing on the Lunar Exploration Rover System (LERS). The IK problem, central to robotic motion control, is traditionally solved using analytical methods, but recent advances in deep learning provide new opportunities to enhance precision and efficiency. The study evaluates the performance of DL Neural Networks, in addressing the complexities of high-DOF manipulators. A detailed comparison is conducted between traditional geometric solutions and DL-based models, with an emphasis on robustness and computational efficiency under noisy conditions. The results demonstrate the potential of DL methods to outperform traditional techniques in high-DOF environments, paving the way for future advancements in autonomous robotic systems. In addition to the IK study, the paper discusses the design and integration of the LERS robotic system, which plays a critical role in advancing autonomous lunar exploration under the ARTEMIS program. As part of this international collaboration involving NASA, the Canadian Space Agency (CSA), the European Space Agency (ESA), and the Japan Aerospace Exploration Agency (JAXA), LERS is tasked with supporting both crewed and unmanned missions on the Moon. LERS is designed to perform precise robotic manipulation tasks such as deploying infrastructure, gathering scientific data, and managing lunar resources, all of which are vital for future missions to Mars. The implementation of advanced IK solutions is key to enabling the precise control of LERS’s robotic arms, allowing for the successful execution of complex tasks such as assembling habitats, handling materials, and conducting scientific analyses on the lunar surface. This work highlights the importance of IK in ensuring that robotic systems like LERS can operate with the precision needed for the next generation of lunar missions.

Design and research of a three-fingered flexible cabledriven robotic hand

2025-06-01

Mengjie He , Y.G. Wang , Y. N. Cao +3 more | Journal of Physics Conference Series

Abstract Underactuated robotic hands are low-cost, highly adaptive, and less damaging to objects during grasping. This paper proposes designing a flexible underactuated robotic hand based on tendon-driven mechanisms to enhance … Abstract Underactuated robotic hands are low-cost, highly adaptive, and less damaging to objects during grasping. This paper proposes designing a flexible underactuated robotic hand based on tendon-driven mechanisms to enhance grasping stability. It establishes a D-H parameter model for single-finger kinematic analysis, simulates the workspace using MATLAB, combines inverse kinematic analysis with ADAMS for dynamic grasping simulation, and finally validates the hand’s feasibility through grasping-force analysis.