A pascal program for automatic generation of robot kinematic equations

Lenarčič, Jadran; Umek, A.

doi:10.1016/0736-5845(91)90014-j

Cited by 4 publications

(1 citation statement)

References 3 publications

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“…For kinematic modeling, different approaches such as tensor method [32], matrix approach [33], and screw theories [34] are available for serial manipulators, which are further extendable to parallel and hybrid manipulators [35]. Researchers have developed programs [36,37] and sometimes used graph theory [38,39] for automatically generating kinematic equations using any one of the approaches to ease the simulation of results. Parallel research is conducted in the field of motion capturing systems, sampling, task-based and kinematic matrices for kinematic analysis related to reaching the human upper limb performing daily living activities (ADLs) [7,40].…”

Section: Introductionmentioning

confidence: 99%

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Gillawat¹

2021

Robotica

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A mathematical model is proposed for a revolute joint mechanism with an n-degree of freedom (DOF). The matrix approach is used for finding the relation between two consecutive links to determine desired link parameters such as position, velocity and acceleration using the forward kinematic approach. The matrix approach was confirmed for a proposed 10 DOF revolute type (R-type) human upper limb model with servo motors at each joint. Two DOFs are considered each at shoulder, elbow and wrist joint, followed by four DOF for the fingers. Two DOFs were considered for metacarpophalangeal (mcp) and one DOF each for proximal interphalangeal (pip) and distal interphalangeal (dip) joints. MATLAB script function was used to evaluate the mathematical model for determining kinematic parameters for all the proposed human upper limb model joints. The simplified method for kinematic analysis proposed in this paper will further simplify the dynamic modeling of any mechanism for determining joint torques and hence, easy to design control system for joint movements.

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Section: Introductionmentioning

confidence: 99%

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Gillawat¹

2021

Robotica

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Analytical-Transformation System for Manipulator Kinematics and Dynamics Modelling

Kazandjieva¹

Proceedings of the Third International Conference on Computer Integrated Manufacturing,

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Rumyana R. KazandjievaA I n t r o d u c t i o nThe requirements for high accuracy and velocity of the industrial robots CIR) are ContradiCtOry. Taking into consideration manipulator Uynamics in I R control is a way to satisfy these requirements. The p r o g r a m model of manipulator dynamics should be input in IR control unit.When manipulator dynamics is modelled in order t o obtain the drive forces and tarques, it is suitable t o use the matrix form of second-order Lagrange's equations C1,23. The manlpulator structure and geometry are described by t h e Denavit and Hartenberg's parameterss , , apJ' aP, 8i_t f r = 1 , . . . , n ; n 1% the I link number).Let G, be t h e transformation matrix from t l l e link 3.1 local coordinate system t o the link p-1 one, T , is the transformation matrix from the link p local coordinate system t o the base cctorclinate system. ~t ;ana ulp are the first. ana t h e s e c o n c~ d e r i v a t i o n s sf T , toward the joint coorainates qk and q p respectlvely.

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Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

Hossain

Nelson

Dasgupta

2017

Journal of Mechanisms and Robotics

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Modular robotics is a popular topic for robotic applications and design. The reason behind this popularity is the ability to use and reuse the same robot modules for accomplishing different tasks through reconfiguration. The robots are capable of self-reconfiguration based on the requirements of the task and environmental constraints. It is possible to have a large number of configuration combinations for the same set of modules. Therefore, it is important to identify unique configurations from among the full set of possible configurations and establish a kinematic strategy for each before reconfiguring the robots into a new shape. This becomes more difficult for robot units having more than one connection type and more degrees of freedom (DOF) For example, ModRED II modules have two types of connections and four DOF per module. In this paper, the set of configurations is enumerated, and determination of configuration isomorphism is accomplished for ModRED II modules using graph theory. Kinematic equations are then derived for unique configurations. The kinematic method is then demonstrated for certain example configurations using ModRED II modules.

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A pascal program for automatic generation of robot kinematic equations

Cited by 4 publications

References 3 publications

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Analytical-Transformation System for Manipulator Kinematics and Dynamics Modelling

Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

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