Verification of bee algorithm based path planning for a 6DOF manipulator using ADAMS

In this article the end effector displacement control for a manipulator robot with 6 rotational joints on a predetermined 3-dimensional trajectory is investigated. Since for any end effector position there are more than a single set of answers, regarding to robot parts orientation, finding a method which gives the designer all existing states will lead to more freedom of action. Hence two different methods were applied to solve robot inverse kinematic issue. In the first method ADAMS software was considered, which is a well-known software in the field of solving inverse kinematic problems, and after that BA algorithm is used as an intelligent method. This method is one of the fastest and most efficient methods among all existing ones for solving non-linear problems. Hence problem of inverse kinematic solution is transformed into an affair of optimization. Comparison of results obtained by both models indicates the reasonable performance of BA because of its capability in providing the answers from all existing states along with the privilege of no need to 3D modeling

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein

Inverse Kinematic Analysis of Robot Manipulators

An important part of industrial robot manipulators is to achieve desired position and orientation of end effector or tool so as to complete the pre-specified task. To achieve the above stated goal one should have the sound knowledge of inverse kinematic problem. The problem of getting inverse kinematic solution has been on the outline of various researchers and is deliberated as thorough researched and mature problem. There are many fields of applications of robot manipulators to execute the given tasks such as material handling, pick-n-place, planetary and undersea explorations, space manipulation, and hazardous field etc. Moreover, medical field robotics catches applications in rehabilitation and surgery that involve kinematic, dynamic and control operations. Therefore, industrial robot manipulators are required to have proper knowledge of its joint variables as well as understanding of kinematic parameters. The motion of the end effector or manipulator is controlled by their joint actuator and this produces the required motion in each joints. Therefore, the controller should always supply an accurate value of joint variables analogous to the end effector position. Even though industrial robots are in the advanced stage, some of the basic problems in kinematics are still unsolved and constitute an active focus for research. Among these unsolved problems, the direct kinematics problem for parallel mechanism and inverse kinematics for serial chains constitute a decent share of research domain. The forward kinematics of robot manipulator is simpler problem and it has unique or closed form solution. The forward kinematics can be given by the conversion of joint space to Cartesian space of the manipulator. On the other hand inverse kinematics can be determined by the conversion of Cartesian space to joint space. The inverse kinematic of the robot manipulator does not provide the closed form solution. Hence, industrial manipulator can achieve a desired task or end effector position in more than one configuration. Therefore, to achieve exact solution of the joint variables has been the main concern to the researchers. A brief introduction of industrial robot manipulators, evolution and classification is presented. The basic configurations of robot manipulator are demonstrated and their benefits and drawbacks are deliberated along with the applications. The difficulties to solve forward and inverse kinematics of robot manipulator are discussed and solution of inverse kinematic is introduced through conventional methods. In order to accomplish the desired objective of the work and attain the solution of inverse kinematic problem an efficient study of the existing tools and techniques has been done. A review of literature survey and various tools used to solve inverse kinematic problem on different aspects is discussed. The various approaches of inverse kinematic solution is categorized in four sections namely structural analysis of mechanism, conventional approaches, intelligence or soft computing approaches and optimization based approaches. A portion of important and more significant literatures are thoroughly discussed and brief investigation is made on conclusions and gaps with respect to the inverse kinematic solution of industrial robot manipulators. Based on the survey of tools and techniques used for the kinematic analysis the broad objective of the present research work is presented as; to carry out the kinematic analyses of different configurations of industrial robot manipulators. The mathematical modelling of selected robot manipulator using existing tools and techniques has to be made for the comparative study of proposed method. On the other hand, development of new algorithm and their mathematical modelling for the solution of inverse kinematic problem has to be made for the analysis of quality and efficiency of the obtained solutions. Therefore, the study of appropriate tools and techniques used for the solution of inverse kinematic problems and comparison with proposed method is considered. Moreover, recommendation of the appropriate method for the solution of inverse kinematic problem is presented in the work. Apart from the forward kinematic analysis, the inverse kinematic analysis is quite complex, due to its non-linear formulations and having multiple solutions. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network (ANN) can be gainfully used to yield the desired results. Therefore, in the present work several models of artificial neural network (ANN) are used for the solution of the inverse kinematic problem. This model of ANN does not rely on higher mathematical formulations and are adept to solve NP-hard, non-linear and higher degree of polynomial equations. Although intelligent approaches are not new in this field but some selected models of ANN and their hybridization has been presented for the comparative evaluation of inverse kinematic. The hybridization scheme of ANN and an investigation has been made on accuracies of adopted algorithms. On the other hand, any Optimization algorithms which are capable of solving various multimodal functions can be implemented to solve the inverse kinematic problem. To overcome the problem of conventional tool and intelligent based method the optimization based approach can be implemented. In general, the optimization based approaches are more stable and often converge to the global solution. The major problem of ANN based approaches are its slow convergence and often stuck in local optimum point. Therefore, in present work different optimization based approaches are considered. The formulation of the objective function and associated constrained are discussed thoroughly. The comparison of all adopted algorithms on the basis of number of solutions, mathematical operations and computational time has been presented. The thesis concludes the summary with contributions and scope of the future research work

Bio-inspired, Varying Manifold Based Method With Enhanced Initial Guess Strategies For Single Vehicle\u27s Optimal Trajectory Planning

Trajectory planning is important in many applications involving unmanned aerial vehicles, underwater vehicles, spacecraft, and industrial manipulators. It is still a challenging task to rapidly find an optimal trajectory while taking into account dynamic and environmental constraints. In this dissertation, a unified, varying manifold based optimal trajectory planning method inspired by several predator-prey relationships is investigated to tackle this challenging problem. Biological species, such as hoverflies, ants, and bats, have developed many efficient hunting strategies. It is hypothesized that these types of predators only move along paths in a carefully selected manifold based on the prey’s motion in some of their hunting activities. Inspired by these studies, the predator-prey relationships are organized into a unified form and incorporated into the trajectory optimization formulation, which can reduce the computational cost in solving nonlinear constrained optimal trajectory planning problems. Specifically, three motion strategies are studied in this dissertation: motion camouflage, constant absolute target direction, and local pursuit. Necessary conditions based on the speed and obstacle avoidance constraints are derived. Strategies to tune initial guesses are proposed based on these necessary conditions to enhance the convergence rate and reduce the computational cost of the motion camouflage inspired strategy. The following simulations have been conducted to show the advantages of the proposed methods: a supersonic aircraft minimum-time-to-climb problem, a ground robot obstacle avoidance problem, and a micro air vehicle minimum time trajectory problem. The results show that the proposed methods can find the optimal solution with higher success rate and faster iv convergent speed as compared with some other popular methods. Among these three motion strategies, the method based on the local pursuit strategy has a relatively higher success rate when compared to the other two. In addition, the optimal trajectory planning method is embedded into a receding horizon framework with unknown parameters updated in each planning horizon using an Extended Kalman Filte

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

Aerial Robotics for Inspection and Maintenance

Aerial robots with perception, navigation, and manipulation capabilities are extending the range of applications of drones, allowing the integration of different sensor devices and robotic manipulators to perform inspection and maintenance operations on infrastructures such as power lines, bridges, viaducts, or walls, involving typically physical interactions on flight. New research and technological challenges arise from applications demanding the benefits of aerial robots, particularly in outdoor environments. This book collects eleven papers from different research groups from Spain, Croatia, Italy, Japan, the USA, the Netherlands, and Denmark, focused on the design, development, and experimental validation of methods and technologies for inspection and maintenance using aerial robots

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field