Collision-free inverse kinematics of a 7 link cucumber picking robot

The paper presents results of research on inverse kinematics algorithms to be used in a functional model of a cucumber harvesting robot consisting of a redundant manipulator with one prismatic and six rotational joints (P6R). Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a generic algorithm. Solutions were easily obtained, but the considerable calculation time needed to solve the problem prevented on line implementation. To circumvent this problem, a second, less generic approach was developed consisting of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. This approach facilitated rapid and robust calculation of the inverse kinematics of the cucumber harvester. During the early stages of the cucumber harvesting project, this inverse kinematics algorithm was used to off-line evaluate the ability of the robot to harvest cucumbers using 3D-information of a cucumber crop obtained in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting

Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a Genetic Algorithm (GA). Although solutions were easily obtained, the considerable calculation time needed to solve the problem prevented on-line implementation. To circumvent this problem, a second, less generic, approach was developed which consisted of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. Using the latter approach, calculation time was considerably reduced. During the early stages of the cucumber-harvesting project, this inverse kinematics algorithm was used off-line to evaluate the ability of the robot to harvest cucumbers using 3D-information obtained from a cucumber crop in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting. The inverse kinematics algorithm is presented and demonstrated with some illustrative examples of cucumber harvesting, both off-line during the design phase as well as on-line during a field test

Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints

In this paper, we propose a solution to compute full-dynamic motions for a humanoid robot, accounting for various kinds of constraints such as dynamic balance or joint limits. As a first step, we propose a unification of task-based control schemes, in inverse kinematics or inverse dynamics. Based on this unification, we generalize the cascade of quadratic programs that were developed for inverse kinematics only. Then, we apply the solution to generate, in simulation, wholebody motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface

Simple Relations between Elements of the Three-Dimensional Orthogonal Matrix of the Basic Representation and Euler and RPY’ Angles

In this Article transformation angles of the methods of RPY (Roll, Pitch and Yaw) and Euler are found using Spinor method [Milnikov A.A., Prangishvili A.I., Rodonaia I.D. (2005) ], which The method is based on the principally new approach-spinor representation of the spatial generalized rotations. And provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints spherical manipulators.RPY’ angles, Euler’s angles, spinors, rotations, and kinematics inverse problem,

Cross-sections for nuclide production in 56Fe target irradiated by 300, 500,750, 1000, 1500, and 2600 MeV protons compared with data on hydrogen target irradiation by 300, 500, 750, 1000, and 1500 MeV/nucleon 56Fe ions

Cross-sections for radioactive nuclide production in 56Fe(p,x) reactions at 300, 500, 750, 1000, 1500, and 2600 MeV were measured using the ITEP U-10 proton accelerator. In total, 221 independent and cumulative yields of products of half-lives from 6.6 min to 312 days have been obtained via the direct-spectrometry method. The measured data have been compared with the experimental data obtained elsewhere by the direct and inverse kinematics methods and with calculations by 15 codes, namely: MCNPX (INCL, CEM2k, BERTINI, ISABEL), LAHET (BERTINI, ISABEL), CEM03 (.01, .G1, .S1), LAQGSM03 (.01, .G1, >.S1), CASCADE-2004, LAHETO, and BRIEFF. Most of our data are in a good agreement with the inverse kinematics results and disprove the results of some earlier activation measurements that were quite different from the inverse kinematics measurements. The most significant calculation-to-experiment differences are observed in the yields of the A<30 light nuclei, indicating that further improvements in nuclear reaction models are needed, and pointing out as well to a necessity of more complete measurements of such reactions.Comment: 53 pages, 9 figures, 6 tables, only pdf file, submitted to Phys. Rev.

Thick-target yields of radioactive targets deduced from inverse kinematics

The thick-target yield (TTY) is a macroscopic quantity reflected by nuclear reactions and matter properties of targets. In order to evaluate TTYs on radioactive targets, we suggest a conversion method from inverse kinematics corresponding to the reaction of radioactive beams on stable targets. The method to deduce the TTY is theoretically derived from inverse kinematics. We apply the method to the natCu(12C,X)24Na reaction to confirm availability. In addition, it is applied to the 137Cs + 12C reaction as an example of a radioactive system and discussed a conversion coefficient of a TTY measurement.Comment: 8 pages, 3 figures, Accepted to Nuclear Instruments and Methods in Physics Research