Inverse-free solution to inverse kinematics of two-wheeled mobile robot system using gradient dynamics method

Zhang, Yunong; Huang, Huanchang; Yan, Xiaogang; Tan, Hongzhou; Wu, Shan

doi:10.1109/icsai.2016.7810942

Cited by 4 publications

(4 citation statements)

References 21 publications

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“…Thus, it is possible to establish the following velocity relation Equation for the robot coordinate system, as shown in Eq. 1 [11,12].…”

Section: Kinematic Inverse Solving Algorithmmentioning

confidence: 99%

Delta Omnidirectional Wheeled Table Tennis Automatic Pickup Robot Based on Vision Servo

Wang

et al. 2020

Advances in Intelligent Systems and Computing

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The survey found that during table tennis training there are often many scattered balls that need to be picked up manually, affecting the efficiency of the players' training. Currently, table tennis is picked up manually using a table tennis picker. In this paper, delta omnidirectional wheeled table tennis automatic pickup robot based on the vision servo achieves fully automatic table tennis pickup by combining the characteristics and requirements of table tennis sports. In this paper, we design a vision algorithm for a table tennis automatic pickup robot system, give a kinematic inverse solution for the delta omnidirectional wheel, complete the design of the robot control system, and build the platform for the experiment. A pickup experiment is conducted on scattered ping-pong balls of different colors. Experiments have shown that the robot can safely clean up scattered table tennis balls on the table tennis field with high positioning accuracy and top pick up rate. It is proved that the robot designed in this paper has extensive application value and prospects.

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“…Thus, it is possible to establish the following velocity relation Equation for the robot coordinate system, as shown in Eq. 1 [11,12].…”

Section: Kinematic Inverse Solving Algorithmmentioning

confidence: 99%

Delta Omnidirectional Wheeled Table Tennis Automatic Pickup Robot Based on Vision Servo

Wang

et al. 2020

Advances in Intelligent Systems and Computing

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“…In 2016, to avoid the Jacobian inversion in the conventional pseudo-inverse solution effectively, and also to achieve the solution of the minimum two-norm position error to the inverse kinematics of the mobile robot, a novel inverse-free solution using the GNN design approach was introduce and developed in. [170] Note that the inversion of Jacobian matrix is usually required in the pseudo-inverse approach as handling the robotic autonomy problem, which is computationally intensive, especially for the complex mobile robots. By using the advantages of the mutual coordination effect between a mobile platform with two omnidirectional driving wheels and a six-joint manipulator, the integrated kinematics of a robot system was derived and developed therein to coordinate the motions of the platform as well as the manipulator.…”

Section: Gnn In Robot Autonomymentioning

confidence: 99%

“…By using the advantages of the mutual coordination effect between a mobile platform with two omnidirectional driving wheels and a six-joint manipulator, the integrated kinematics of a robot system was derived and developed therein to coordinate the motions of the platform as well as the manipulator. Moreover, the presented inverse-free solution in [170] with different values of design parameter as well as the conventional pseudo-inverse solution were conducted for comparison on the basis of the robot system for specific tracking jobs. In addition, Chen and Zhang [154] proposed a novel jerk-level synchronous repetitive motion solution to address the joint drift problem, and obtain the synchronous autonomy of a dual manipulators of robot system.…”

Section: Gnn In Robot Autonomymentioning

confidence: 99%

A Review on Neural Dynamics for Robot Autonomy

Chen

2018

IJRC

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Exploiting neural networks to solve control problems of robots is becoming commonly and effectively in academia and engineering. Due to the remarkable features like distributed storage, parallelism, easy implementation by hardware, adaptive self-learning capability, and free of off-line training, the solutions of neural networks break the bottlenecks of serial-processing strategies and methods, and serve as significant alternatives for robotic engineers and researchers. Especially, various types and branches of recurrent neural networks (RNNs) have been sequentially developed since the seminal works by Hopfield and Tank. Successively, many classes and branches of RNNs such as primal-dual neural networks (PDNNs), zeroing neural networks (ZNNs) and gradient neural networks (GNNs) are proposed, investigated, developed and applied to the robot autonomy. The objective of this paper is to present a comprehensive review of the research on neural networks (especially RNNs) for control problems solving of different kinds of robots. Specifically, the state-of-the-art research of RNNs, PDNNs, ZNNs and GNNs in different robot control problems solving are detailedly revisited and reported. The readers can readily find many effective and valuable solutions on the basis of neural networks for the robot autonomy in this paper.

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“…The inverse free solution for the inverse kinematics of a two-wheeled moving robotic system using the gradient dynamics method was investigated by Zhang. In order to effectively avoid the Jacobian inversion of conventional pseudoinverse solutions and to obtain a minimum two-norm error tracing solution to the inverse kinematics of the two-wheel mobile robot (TWMRS) system, the inverse-free solution uses the gradient dynamics (GD) method [9]. The Visio design and control of a Two-Wheeled Inverted Pendulum Cell Robot was investigated by Ben Mansour.…”

Section: Introductionmentioning

confidence: 99%

Synchronizing of Stabilizing Platform Mounted on a Two-Wheeled Robot

Islam¹,

Hossain²,

Banik³

2021

jrc

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This paper represents the designing, building, and testing of a self-stabilizing platform mounted on a selfbalancing robot. For the self-stabilizing platform, a servo motor is used and for the self-balancing robot, two dc motors are used with encoder, inertial measurement unit, motor driver, and Arduino UNO microcontroller board. A PID controller is used to control the balancing of the system. The PID controller gains (Kp, Ki, and Kd) were evaluated experimentally. The value of the tilted angle from IMU was fed to the PID controller to control the actuated motors for balancing the system. For the self-stabilizing control part, whenever the robot tilted, it maintained the horizontal position by rotating that much in the opposite direction.

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Inverse-free solution to inverse kinematics of two-wheeled mobile robot system using gradient dynamics method

Cited by 4 publications

References 21 publications

Delta Omnidirectional Wheeled Table Tennis Automatic Pickup Robot Based on Vision Servo

Delta Omnidirectional Wheeled Table Tennis Automatic Pickup Robot Based on Vision Servo

A Review on Neural Dynamics for Robot Autonomy

Synchronizing of Stabilizing Platform Mounted on a Two-Wheeled Robot

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