PRRRRRP redundant planar parallel manipulator: Kinematics, workspace and singularity analysis

Zarkandi, Soheil; Vafadar, Ana; Esmaili, Mohammad Reza

doi:10.1109/ramech.2011.6070457

Cited by 8 publications

(8 citation statements)

References 20 publications

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“…Unfortunately, it is usually impossible to find an analytic solution for IK due to the nonlinearity of the equations f (θ( t )), especially in singularity condition [23–29,34–35] such as degeneracy, which causes the robot to lose a degree of freedom (DOF). IK problems are usually solved, therefore, by using a pseudo-inverse method with Jacobin matrix in robotic dynamic system to overcome this shortcoming.…”

Section: Preliminariesmentioning

confidence: 99%

“…, especially in singularity condition [23][24][25][26][27][28][29][34][35] such as degeneracy, which causes the robot to lose a degree of freedom (DOF). IK problems are usually solved, therefore, by using a pseudo-inverse method with Jacobin matrix in robotic dynamic system to overcome this θ is the end-effector Jacobin matrix [23][24][25][26][27][28][29][30][31][32][33][34][35][36].…”

Section: Kinematicsmentioning

confidence: 99%

“…However, it is difficult to apply these mathematical solutions. Problems include failure to derive the kinematic equations and inability to find analytical solutions [23][24][25][26][27][28][29] or to solve the variety of complex mathematical equations. Furthermore, the mathematical method can only be applied if the characteristics of the trajectories are known [7,8,10,12,14,18,22].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Predicting the Motion of a Robot Manipulator with Unknown Trajectories Based on an Artificial Neural Network

Tang

Ang

Ariffin

et al. 2014

International Journal of Advanced Robotic Systems

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Mathematically, the motion of a robot manipulator can be computed through the integration of kinematics, dynamics, and trajectories calculations. However, the calculations are complex and only can be applied if the configuration of the robot and the characteristics of the joint trajectories are known. This paper introduces the use of artificial neural networks (ANN) to overcome these shortcomings by solving nonlinear functions and adapting the characteristics of unknown trajectories. A virtual six-degree-of-freedom (DOF) robot manipulator is exploited as an example to show the robustness of the developed ANN topology.

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Section: Preliminariesmentioning

confidence: 99%

Section: Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Predicting the Motion of a Robot Manipulator with Unknown Trajectories Based on an Artificial Neural Network

Tang

Ang

Ariffin

et al. 2014

International Journal of Advanced Robotic Systems

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show abstract

“…∂θ [6][7][8][9][10][11][12][13]. However, the derived IK equations are not necessarily available when the degeneracy and singularity problems ( [6], [9], [12]- [14])] occurred and thus we need to use some new methods to solve it such as artificial neural network, genetic algorithm, neural fuzzy and etceteras ( [7]- [15]).…”

Section: Introductionmentioning

confidence: 99%

Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN

Ang

Tang

Mashohor

et al. 2014

INT J COMPUT COMMUN

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Robot movement can be predicted by incorporating Forward Kinematics (FK) and trajectory planning techniques. However, the calculations will become complicated and hard to be solved if the number of specific via points is increased. Thus, back-propagation artificial neural network is proposed in this paper to overcome this drawback due to its ability in learning pattern solutions. A virtual 4-degree of freedom manipulator is exploited as an example and the theoretical results are compared with the proposed method.

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“…Two degrees of kinematic redundancy were added to a planar PRRRP planar parallel manipulator in Ref. [15]. They presented the kinematics, the numerical analysis of the workspace, and the singularity analysis.…”

Section: Introductionmentioning

confidence: 99%

Overall Motion Planning for Kinematically Redundant Parallel Manipulators

Carretero

Ebrahimi

Boudreau

2012

Journal of Mechanisms and Robotics

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In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors called point-to-point motion planning (PPMP). Overall motion planning (OMP) consists of determining actuation schemes that optimize the manipulator's performance while considering the entire given trajectory of the end-effector at once. The results of OMP are compared with those of PPMP of a kinematically redundant manipulator. It is shown that the proposed OMP strategy can generate actuation schemes for given trajectories such that the manipulator avoids singular configurations better than the PPMP strategy.

show abstract

PRRRRRP redundant planar parallel manipulator: Kinematics, workspace and singularity analysis

Cited by 8 publications

References 20 publications

Predicting the Motion of a Robot Manipulator with Unknown Trajectories Based on an Artificial Neural Network

Predicting the Motion of a Robot Manipulator with Unknown Trajectories Based on an Artificial Neural Network

Solving Continuous Trajectory and Forward Kinematics Simultaneously Based on ANN

Overall Motion Planning for Kinematically Redundant Parallel Manipulators

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