Vector model for solving the inverse kinematics problem in the system of external adaptive control of robotic manipulators

Pikalov, Iakov; Spirin, E.A.; Сарамуд, М В; Kubrikov, Maksim V.

doi:10.1016/j.mechmachtheory.2022.104912

Cited by 5 publications

(3 citation statements)

References 14 publications

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“…Using the modified D-H model coordinate transformation [8][9][10], the transformation expression is written as Eq. ( 1):…”

Section: D-h Model For Kinematics Solutionmentioning

confidence: 99%

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Wang¹,

Zhang²,

Meng³

2023

J. vibroeng.

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Tree Planting Machine (TPM) is subject to a Tree-Planting Robot (TPR) with desired tracking trajectory planning. In this topic, taking the TPR proposed as the analysis object, the positive and inverse solutions of the kinematics are analyzed to explore the optimal trajectory planning. An improved position/posture algorithm, based on the analytical solution of the inverse kinematics of the TPR, is proposed. The trajectory planning strategy for TPR in Cartesian coordinate system and Joint coordinate system is discussed, which is used for parabolic transition linear programming optimization, and the simulation model of TPR trajectory planning is constructed by MATLAB module. Numerical simulation results indicate that the deviation of the TPR trajectory from the expected value is significantly reduced. The proposed improved position/posture algorithm is verified by kinematic analysis, and the TPR followability and trajectory planning accuracy are greatly improved. Toward this goal, a variable trajectory planning can be effectively, and stability adjusted by pre-designed TPM system in the field of ecological tree planting.

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“…Using the modified D-H model coordinate transformation [8][9][10], the transformation expression is written as Eq. ( 1):…”

Section: D-h Model For Kinematics Solutionmentioning

confidence: 99%

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Wang¹,

Zhang²,

Meng³

2023

J. vibroeng.

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“…For serial robots, the positive solution is easy to be found. From the kinematic formula in Reference 51, we can obtain the task space position of the slave robots. The end‐effector trajectory of the master robot in task space is exhibited in Figure 7A.…”

Section: Simulationmentioning

confidence: 99%

Fixed‐time velocity‐free coordination control for human‐robot systems without any approximation function

Zeng

Yang

2023

Intl J Robust & Nonlinear

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In this paper, the fixed‐time coordination control problem is addressed for a class of uncertain human‐robot systems without velocity information. Specifically, due to the absence of approximation function, the developed control scheme is more practical. Firstly, a new fixed‐time velocity observer is introduced to estimate unmeasured velocities with the homogeneity theory. Then, the performance of the velocity observer in the presence of parametric uncertainties and non‐parametric uncertainties is analyzed seriously. Furthermore, a novel distributed continuous fixed‐time control (DCFTC) scheme is proposed. Compared with the existing velocity‐free controllers, fixed‐time convergence is achieved both for velocity estimation and trajectory tracking. More than that, distributed control is realized by using graph theoretic notions. Finally, numerical simulation results and experiment results demonstrate the efficacy and superior performance of the proposed velocity estimation method and control algorithms.

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“…However, in the feld of forest aviation operations, due to factors such as the complex high-altitude forest environment and the difculty of research and development, there are few related robots. Te existing robots in this feld have a low level of automation and mechanization, and their operational efciency is not high [14].…”

Section: Introductionmentioning

confidence: 99%

Numerical Analysis of a TCR Adaptive to Different Tree Diameters for Unstructured Forest Environment: A TCR of Variable Diameter with Different Tree Diameters

Wang

Zhang

2023

Journal of Robotics

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This paper proposes the optimal design and simulation analysis of a robot for tree-climbing, which has the ability to climb up the tree trunk to adapt to different tree diameter changes. In an unstructured forest environment, considering that the Tree-Climbing Robot (TCR) may collide with branches, reducing the success rate of tree climbing, the mechanical structure and movement strategy to avoid branches are predesigned. The presented TCR mimics several design principles that have been adapted to arboreal animals, including claw-hand grasping and climbing gait movements, and is optimally designed to achieve high manoeuvrability on irregularly shaped trees. Based on the D-H parameterization method, the kinematics model of the TCR is developed and its kinematic equations are solved. The accuracy of the kinematic equations is verified by MATLAB, and the reachable area of the working space of the manipulator of the TCR is determined. Using ADAMS to analyse the kinematics and dynamics of the climbing process of the TCR, the rationality of the gait planning of the robot is verified, and the time-varying characteristic curves of each physical quantity of each structural joint are derived and further simulated through numerical analysis, the results of which will profoundly validate the technical feasibility and design innovation of this presented TCR.

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Vector model for solving the inverse kinematics problem in the system of external adaptive control of robotic manipulators

Cited by 5 publications

References 14 publications

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Fixed‐time velocity‐free coordination control for human‐robot systems without any approximation function

Numerical Analysis of a TCR Adaptive to Different Tree Diameters for Unstructured Forest Environment: A TCR of Variable Diameter with Different Tree Diameters

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