A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles

Gonçalves, Fernando Ribeiro; Ribeiro, Tiago; Ribeiro, António Fernando; Lopes, Gil; Flores, Paulo

doi:10.3390/robotics11010015

Cited by 17 publications

(9 citation statements)

References 31 publications

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“…This study extends the authors' previous work [8] to include a complete dynamic analysis of CHARMIE, a colaborative robot for elderly care [9]. The main novelty of this work is the use of an in-house code to adapt, apply and validate the recursive algorithm of [6] for obtaining the multibody model of the considered robot.…”

Section: Introductionmentioning

confidence: 70%

“…Bodies 1 and 2 (not represented in the CAD model) are massless fictitious links that allow the robot's base to slide and rotate while traveling along the floor plane (using 2 linear actuators and 1 revolute motor). The work in [8] details the degrees-of-freedom associated with each main joint of the robot. From the CAD model, the masses and inertia of all the robot's bodies were obtained, listed on Table 1.…”

Section: Description Of the Multibody Modelmentioning

confidence: 99%

“…The formulation of multibody system dynamics adopted in this work follows closely that of [10], in which a recursive Newton-Euler algorithm is used to derive the spatial system's equations of motion. These equations were implemented using the outputs from the forward kinematic analysis of [8] (orientations defined by rotation matrices, point coordinates, joint positions, velocities and accelerations).…”

Section: Equations Of Motionmentioning

confidence: 99%

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Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach

Gonçalves

Ribeiro

et al. 2022

CISM International Centre for Mechanical Sciences

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This work deals with the modeling process of a new three dimensional human-like robot for an inverse dynamic analysis. This robot intends to be utilized by caregivers to assist persons with reduced mobility (such as the elderly). The model under analysis is composed by 24 rigid bodies: 3 to represent the robot's base and locomotion, 4 for the lower limbs and torso, 7 for each arm, and 3 for the head. The resulting multibody system has 19 degrees-of-freedom driven by 4 linear actuators and 15 revolute motors. The proposed approach was implemented using an in-house computational code, and validated against a commercial software for a general spatial motion. The outcomes achieved show that the proposed formulation is computationally effective both in terms of efficiency and accuracy. The general findings of this study are promising and useful for the mechanical design and construction of a real human-like robot prototype.

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Section: Introductionmentioning

confidence: 70%

Section: Description Of the Multibody Modelmentioning

confidence: 99%

Section: Equations Of Motionmentioning

confidence: 99%

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Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach

Gonçalves

Ribeiro

et al. 2022

CISM International Centre for Mechanical Sciences

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“…Furthermore, in the case of AGV robots, the precision of the final positioning is crucial for successful loading and unloading of transported goods in typical industrial applications [ 20 ]. Designers of robotics systems use advanced tools to assist in the design process of control systems [ 21 , 22 , 23 , 24 , 25 ] to provide the expected functionality of the robot. The working environment has a particular impact on the change in the operating parameters of the robot.…”

Section: Related Workmentioning

confidence: 99%

Identification of Differential Drive Robot Dynamic Model Parameters

et al. 2023

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The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

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“…In general, the attitude is expressed as the rotation between the Earth’s inertial frame and the body’s local frame. This rotation in 3D space can be expressed by using Euler angles [ 9 ], or more commonly by using quaternions [ 10 , 11 ]. Although less intuitive, quaternions avoid the singularity of Euler angles known as the gimbal lock [ 12 ], which is the main reason of quaternion supremacy over Euler angles.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Gradient Descent Parameters in Attitude Estimation Algorithms

Sever

Golušin

Lončar

2023

Sensors

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Attitude estimation methods provide modern consumer, industrial, and space systems with an estimate of a body orientation based on noisy sensor measurements. The gradient descent algorithm is one of the most recent methods for optimal attitude estimation, whose iterative nature demands adequate adjustment of the algorithm parameters, which is often overlooked in the literature. Here, we present the effects of the step size, the maximum number of iterations, and the initial quaternion, as well as different propagation methods on the quality of the estimation in noiseless and noisy conditions. A novel figure of merit and termination criterion that defines the algorithm’s accuracy is proposed. Furthermore, the guidelines for selecting the optimal set of parameters in order to achieve the highest accuracy of the estimate using the fewest iterations are proposed and verified in simulations and experimentally based on the measurements acquired from an in-house developed model of a satellite attitude determination and control system. The proposed attitude estimation method based on the gradient descent algorithm and complementary filter automatically adjusts the number of iterations with the average below 0.5, reducing the demand on the processing power and energy consumption and causing it to be suitable for low-power applications.

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A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles

Cited by 17 publications

References 31 publications

Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach

Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach

Identification of Differential Drive Robot Dynamic Model Parameters

Optimization of Gradient Descent Parameters in Attitude Estimation Algorithms

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