Geometric Approach to Solving the Inverse Displacement Problem of Calibrated Decoupled 6r Serial Robots

Abstract

This paper presents a simple but efficient way to numerically calculate the inverse displacement problem of calibrated decoupled 6R serial robots. The method is iterative and works with any type of calibrated robot model, such as level-3 models, since it requires no algebraic computation and no resolution of high-order polynomials, only the computation of the forward displacement problem of the calibrated robot model and the inverse kinematics of the nominal robot model. The method proposed can find up to eight possible solutions for a given end-effector pose. A numerical example is presented, with one million arbitrary end-effector poses of a level-3 calibrated ABB IRB 120 robot. The computation time for solving the inverse problem is analyzed, and in most cases is found to be only four times the time needed to calculate the nominal inverse kinematics and the calibrated direct kinematics. Furthermore, the method is fast enough to be implemented directly into the robot controller using the RAPID programming language.

Forward Kinematic Analysis of Open Source Medical Assistant Robot Arm with Python

“…Liu ve diğ. 2015 6 serbestlik dereceli robot kolun ters kinematik analizi için geometrik yaklaşımı benimsemiştir (Nubiola, 2014). Qiao ve diğ., 2010 ters kinematik problemine çözüm bulmak için çift quaternion kullandı (Nubiola, 2014).…”

“…2015 6 serbestlik dereceli robot kolun ters kinematik analizi için geometrik yaklaşımı benimsemiştir (Nubiola, 2014). Qiao ve diğ., 2010 ters kinematik problemine çözüm bulmak için çift quaternion kullandı (Nubiola, 2014). Nubiola ve Boney, ise robotik sistemler için daha basit ve etkili bir çözüm yolu kullandılar (Almusawi, 2016).…”

Geometrical Approach for Industrial Robot Axis Calibration Using Laser Tracker

“…Represented geometrical approach calibrate only one orientation parameter of robot axis using conjoint rotation in comparison with different works [3,4,5,7,8,9], where numerical iterative method is used for whole kinematic chain calibration. Including more calibration parameters we need to consistently solve similar tasks, represented in section 2.…”

“…Analytical method [2] provides single-shot direct and inverse kinematic tasks solving. Using numerical iterative method [3,4] for achieving desired precision direct and inverse kinematic tasks are solved in several iterations. Also, using numerical iterative methods, it is possible to use a big number of parameters.…”