Digital hardware implementation of the forward/inverse kinematics for a SCARA robot manipulator

Chen, Wen-Chuan; Chen, Chin‐Sheng; Lee, Feng-Chi; Kung, Ying‐Shieh

doi:10.1109/icasi.2018.8394315

Cited by 7 publications

(5 citation statements)

References 6 publications

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Section: Methodsmentioning

confidence: 99%

“…The joint variables (q 1 , q 2 , q 3 , q 4 , q 5 and q 6 ) can be extracted from these equations which gives a set of six inverse kinematic equations that define the joint values as function of the end-effector position in space (vector w). [78][79][80] By entering the values of vector w into these inverse kinematic equations, it is possible to get the values of joint variables needed to achieve the position described by vector w. Hence, if the joint variable values of the first robotic manipulator (q 1 1 , q 1 2 , q 1 3 , q 1 4 , q 1 5 and q 1 6 ) are determined from the optimization parameters a i , the direct kinematic equations (5) and (6) can be used to determine the position of endeffector in the space, defined by vector w. 21,38 Using the inverse kinematic equations to determine the joint variables of second robotic manipulator (q 2 1 w ð Þ, q 2 2 w ð Þ, q 2 3 w ð Þ, q 2 4 w ð Þ, q 2 5 w ð Þ and q 2 6 w ð Þ) will result in the endeffector position of the second robotic manipulator following the positioning of the first robotic manipulator, enabling cooperative behaviour. 39,76,78 This process is shown in Figure 7.…”

Section: Agent Constructionmentioning

confidence: 99%

See 1 more Smart Citation

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Šegota

Anđelić

Lorencin

et al. 2020

International Journal of Advanced Robotic Systems

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Lowering joint torques of a robotic manipulator enables lowering the energy it uses as well as increase in the longevity of the robotic manipulator. This article proposes the use of evolutionary computation algorithms for optimizing the paths of the robotic manipulator with the goal of lowering the joint torques. The robotic manipulator used for optimization is modelled after a realistic six-degree-of-freedom robotic manipulator. Two cases are observed and these are a single robotic manipulator carrying a weight in a point-to-point trajectory and two robotic manipulators cooperating and moving the same weight along a calculated point-to-point trajectory. The article describes the process used for determining the kinematic properties using Denavit–Hartenberg method and the dynamic equations of the robotic manipulator using Lagrange–Euler and Newton–Euler algorithms. Then, the description of used artificial intelligence optimization algorithms is given – genetic algorithm using random and average recombination, simulated annealing using linear and geometric cooling strategy and differential evolution. The methods are compared and the results show that the genetic algorithm provides best results in regard to torque minimization, with differential evolution also providing comparatively good results and simulated annealing giving the comparatively weakest results while providing smoother torque curves.

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Section: Methodsmentioning

confidence: 99%

Section: Agent Constructionmentioning

confidence: 99%

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Šegota

Anđelić

Lorencin

et al. 2020

International Journal of Advanced Robotic Systems

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show abstract

“…Moreover, while pipelining is often applied, algorithm-level parallelization is not. Analytical IK solvers have been accelerated with FPGAs, mainly addressing industrial robotics applications [2], [28]. Other works proposed the adoption of algorithms not commonly used for solving IK problems, but intrinsically parallel.…”

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

“…Table 2 summarizes the described IK solvers hardware implementations together with the approach proposed in this work. The analyzed state-of-the-art works adopt algorithms that are not suitable for the manipulator that is used in this work [2], [28], or algorithms that are meant for application fields far from the one considered in this paper [29], or even algorithms that might not converge [31]. As already said, we adopted the DLS that has a predictable convergence time for a given trajectory length, and it is capable of tolerating singularities in the workspace.…”

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Fanni

Rubattu

et al. 2020

IEEE Access

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Modern embedded computing platforms used within Cyber-Physical Systems (CPS) are nowadays leveraging more and more often on heterogeneous computing substrates, such as newest Field Programmable Gate Array (FPGA) devices. Compared to general purpose platforms, which have a fixed datapath, FPGAs provide designers the possibility of customizing part of the computing infrastructure, to better shape the execution on the application needs/features, and offer high efficiency in terms of timing and power performance, while naturally featuring parallelism. In the context of FPGA-based CPSs, this paper has a two fold mission. On the one hand, it presents an analysis of the Damped Least Square (DLS) algorithm for a perspective hardware implementation. On the other hand, it describes the implementation of a robotic arm controller based on the DLS to numerically solve Inverse Kinematics problems over a heterogeneous FPGA. Assessments involve a Trossen Robotics WidowX robotic arm controlled by a Digilent ZedBoard provided with a Xilinx Zynq FPGA that computes the Inverse Kinematic.

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“…With the ability to calculate and process data in parallel, FPGAs are widely used in the field of robot control. FPGA helps improve hardware processing power and real-time information processing speed [34][35][36][37][38][39][40].Chen et al [34] implemented the forward/inverse kinematics for a SCRARA robot on FPGA. The parameterized function is utilized to increase the code flexibility in the design, and then the Finite state machine is employed to reduce the hardware resource.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Duy

2024

FME Transactions

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To develop a cost-efficient robot arm for a typical pick and place application that can applied in industry, this paper deployed a programmable logic controller (PLC) to control the rotation motion of the robot joints. The main tasks of the PLC controller are to calculate the kinematics, create high-speed pulse outputs for stepper motors, and implement sequence operations for a certain application. Functions are written into subprogram segments. When needed, the main program only turns on the corresponding flag for executing the subprogram. Using the pre-written subprograms, a logical sequence to implement the Pick and Place application is easily implemented and described in this paper. The PLC program is developed to control a SCARA robot with three rotation joins. Stepper motors drive the robot joints. The Delta DVPSV2 PLC is utilized to design the robot controller. This PLC series has four high-speed pulse output pins, which is suitable for this project. Synchronous motion of stepper motors is easily performed using high-speed pulse output commands built into the PLC program. Experimental results of robot arm control have demonstrated the efficiency and accuracy of the developed program. The robot arm's forward and inverse kinematics problems are verified using the simulator on the software. The robot's joints move synchronously as required to perform pick-and-place applications.

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Digital hardware implementation of the forward/inverse kinematics for a SCARA robot manipulator

Cited by 7 publications

References 6 publications

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Design and development of a cost efficiency robot arm with a PLC-based robot controller

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