Kinematic and dynamic modelling of UR5 manipulator

Kebria, Parham M.; Al-Wais, Saba; Asayesh, Hamid; Nahavandi, Saeid

doi:10.1109/smc.2016.7844896

Cited by 123 publications

(59 citation statements)

References 14 publications

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“…The ReRobot is set up to assist the movement of the impaired arm by using UR5 (Universal Robots Ltd, Odense, Denmark). UR5 is a lightweight, flexible and safe robotic arm with six degrees of freedom in cartesian space based on its six rotary joints [33]. A handle was attached at the end of UR5 for participants to hold.…”

Section: B Experimental Setup 1) Rerobot Platformmentioning

confidence: 99%

Real-Time Detection of Compensatory Patterns in Patients With Stroke to Reduce Compensation During Robotic Rehabilitation Therapy

Cai

et al. 2020

IEEE J. Biomed. Health Inform.

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Objectives: Compensations are commonly employed by patients with stroke during rehabilitation without therapist supervision, leading to suboptimal recovery outcomes. This study investigated the feasibility of the realtime monitoring of compensation in patients with stroke by using pressure distribution data and machine learning algorithms. Whether trunk compensation can be reduced by combining the online detection of compensation and haptic feedback of a rehabilitation robot was also investigated. Methods: Six patients with stroke did three forms of reaching movements while pressure distribution data were recorded as Dataset1. A support vector machine (SVM) classifier was trained with features extracted from Dataset1. Then, two other patients with stroke performed reaching tasks, and the SVM classifier trained by Dataset1 was employed to classify the compensatory patterns online. Based on the real-time monitoring of compensation, a rehabilitation robot provided an assistive force to patients with stroke to reduce compensations. Results: Good classification performance (F1 score > 0.95) was obtained in both offline and online compensation analysis using the SVM classifier and pressure distribution data of patients with stroke. Based on the real-time detection of compensatory patterns, the angles of trunk rotation, trunk lean-forward and trunk-scapula elevation decreased by 46.95%, 32.35% and 23.75%, respectively. Conclusion: High classification accuracies verified the feasibility of detecting compensation in patients with stroke based on pressure distribution data. Since the validity and reliability of the online detection of compensation has been verified, this classifier can Manuscript

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Section: B Experimental Setup 1) Rerobot Platformmentioning

confidence: 99%

Real-Time Detection of Compensatory Patterns in Patients With Stroke to Reduce Compensation During Robotic Rehabilitation Therapy

Cai

et al. 2020

IEEE J. Biomed. Health Inform.

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“…The latter is converted in robot joint motion law by the robot inverse kinematics. The implementation of the inverse kinematics for the UR5 manipulator is congruent with the mathematics described in [9,10]. Figure 4 shows the motion simulated, that is a back and forth trajectory between two human joint configurations, whereas Fig.…”

Section: Kinematicsmentioning

confidence: 99%

Collaborative Robotics for Rehabilitation: A Multibody Model for Kinematic and Dynamic Analysis

Chiriatti

Palmieri²,

Palpacelli³

2020

Mechanisms and Machine Science

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Human-Robot Collaboration is increasing in industrial settings because of the robot's accuracy and repeatability join perfectly with human's problem solving to enhance the industrial productivity. Collaborative robots share the workspace with operators in order to reduce human workload and guarantee performances. The reliability and safety of these robots allow their application in the health care sector (e.g. neuromuscular rehabilitation). The cobot-assisted therapy is becoming a significant supplement to the traditional one aimed at providing intensive and repetitive rehabilitating tasks to improve the patient's recovery. The human-robot system presented in this paper is a closed kinematic chain composed of a robotic arm attached to the human forearm through a custom handle system. The handle, designed with simple components, is used for primary rehabilitation exercises. The kinematic models of human and robotic arms presented in this study are applied to develop trajectory planning algorithm in the joint space. Robot joints torques needed for guiding the patient limb are obtained by multibody dynamic simulations, assessing the capability of the manipulator to perform the task at given speeds and loads. The tools and methods proposed in this work allow for a preliminary study on cobot-assisted-therapy by different human-cobot-working modalities.

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“…For the kinematic description of mobile robots we refer to [18]. The kinematic relationships of the UR10 were also sufficiently investigated [19], although it is pointed out that the kinematic chain has an offset wrist.…”

Section: Kinematicsmentioning

confidence: 99%

“…must hold. The angular EE-velocities are determined by the controller as (19) and thus, to satisfy the constraint from Equation 18, the feedback-torque at the EE is given with…”

Section: Singularity Avoidancementioning

confidence: 99%

Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance

2019

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Mobile manipulators are robot systems capable of combining logistics and manipulation tasks. They thus fulfill an important prerequisite for the integration into flexible manufacturing systems. Another essential feature required for modern production facilities is a user-friendly and intuitive human-machine interaction. In this work the goal of code-less programming is addressed and an intuitive and safe approach to physically interact with such robot systems is derived. We present a natural approach for hand guiding a sensitive mobile manipulator in task space using a force torque sensor that is mount close to the end effector. The proposed control structure is capable of handling the kinematic redundancies of the system and avoid singular arm configurations by means of haptic feedback to the user. A detailed analysis of all possible singularities of the UR robot family is given and the functionality of the controller design is shown with laboratory experiments on our mobile manipulator.

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Kinematic and dynamic modelling of UR5 manipulator

Cited by 123 publications

References 14 publications

Real-Time Detection of Compensatory Patterns in Patients With Stroke to Reduce Compensation During Robotic Rehabilitation Therapy

Real-Time Detection of Compensatory Patterns in Patients With Stroke to Reduce Compensation During Robotic Rehabilitation Therapy

Collaborative Robotics for Rehabilitation: A Multibody Model for Kinematic and Dynamic Analysis

Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance

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