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Ding, Feng, and Cong Liu. "Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm." International Journal of Advanced Robotic Systems 15, no. 4 (July 1, 2018): 172988141879328. http://dx.doi.org/10.1177/1729881418793283.
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Drilling robot is a piece of large rock drilling equipment that integrates mechanical, electrical, and hydraulic technique, and it is a significant device for drilling and blasting. The drilling robot arm is the core component of the robot. To get intuitive and accurate modeling method to overcome the problem of the classic Denavit–Hartenberg method, for instance, the model mismatches the entity. The coordinate system fixed on the entity of Denavit–Hartenberg notation that is named coordinate-fixed Denavit–Hartenberg is creatively presented. The coordinate-fixed Denavit–Hartenberg method not only improves the accuracy and operability of kinematic analysis but also solves the workspace of drilling robot arm effectively. The drilling robot from an intelligent technology company in China is taken as the research example in this article. The homogeneous coordinate transformation matrix of each link rod is established through reasonably simplifying drilling robot arm as a multijoint structure. The coordinate-fixed Denavit–Hartenberg method is utilized for the first time in determining and verifying the kinematics equation of drilling robot arm. The kinematics equation is employed to obtain the effective workspace of drilling robot arm. The analysis results demonstrate that the design of drilling robot arm reaches the need of workspace in the actual structure as well as meets the functional requirements of drilling robot.
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Steinparz, F. X. "Co-ordinate transformation and robot control with Denavit-Hartenberg matrices." Journal of Microcomputer Applications 8, no. 4 (October 1985): 303–16. http://dx.doi.org/10.1016/0745-7138(85)90031-4.
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Sharma, G., M. Badescu, A. Dubey, C. Mavroidis, S. M. Tomassone, and M. L. Yarmush. "Kinematics and Workspace Analysis of Protein Based Nano-Actuators." Journal of Mechanical Design 127, no. 4 (February 25, 2005): 718–27. http://dx.doi.org/10.1115/1.1900751.
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In this paper, a novel nanoscale protein based nano actuator concept is described. Molecular kinematic computational tools are developed and included in our Matlab Biokinematics Toolbox to study the protein nanomotor’s performance using geometric criteria. The computational tools include the development of the molecular motor direct and inverse kinematics using the protein’s Denavit and Hartenberg parameters and the corresponding homogeneous transformation matrices. Furthermore, the workspace calculation and analysis of the protein motor is performed.
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Ding, Ji Bin. "Robotize Kinematics Modeling on the Loading Mechanism of Back-Loaded Compressed Dust Cart." Applied Mechanics and Materials 63-64 (June 2011): 1013–17. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.1013.
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The three-dimensional geometric kinematics model of the loading mechanism of back-loaded compressed dust cart is established based on the robot kinematics principle and Denavit-Hartenberg（D-H） method. In this paper, the loading mechanism's principle is discussed and it’s institutions simplified robotize model is established, coordinate transformation process and gesture of the skateboard and scraper of the loading mechanism have been studied in the D-H coordinate, has certain significance for improving the product design methods and the manufacturing quality.
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Baločková, Lenka. "The Method for Solving Kinematics of an Industrial Robot." Applied Mechanics and Materials 282 (January 2013): 274–81. http://dx.doi.org/10.4028/www.scientific.net/amm.282.274.
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This article deals with an overview of kinematic structures of industrial operating robots in cartesian, cylindrical, spherical and angular coordinating system. The second half of the article deals with solution of direct kinematics. Each of the coordinate systems is graphically shown and verbally described. Basic transformation matrices are used for the solution of direct kinematics and subsequently the Denavit-Hartenberg method, placing coordinate systems of robotic structure RRRT, is described in details. Calculated workspaces of kinematic structure RRRT are shown at the end of this article.
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Xie, Jun, Jun Zhang, and Jie Li. "Mechanism Design and Kinematics Simulation of Massage Mechanical Arm." Applied Mechanics and Materials 101-102 (September 2011): 279–82. http://dx.doi.org/10.4028/www.scientific.net/amm.101-102.279.
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Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.
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Said, Alejandro, Ernesto Rodriguez-Leal, Rogelio Soto, J. L. Gordillo, and Leonardo Garrido. "Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics." Mathematical Problems in Engineering 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/437979.
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This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH) transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.
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Wen, Jian, Lei Zhou, Chun Zhang, and Tong Fen Liang. "Errors Analysis and Calibration on Measuring Mechanical Arm for EVA Spacesuit Ergonomics Research." Key Engineering Materials 474-476 (April 2011): 852–57. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.852.
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A combined coordinate measuring mechanical arm (CCMMA) was developed to test the operational ability of astronaut in the EVA spacesuit. The equipment measures the space region coordinates of the astronaut’s hand-reach while forces act on a handle. The homogeneous transformation equations of CCMMA are established based on Modified Denavit-Hartenberg (MDH). Measurement error was analyzed and distance error model of CCMMA was set up to improve measurement precision. The improved genetic algorithm is applied to the identification of CCMMA structure parameters. The calibration experiment of CCMMA was carried out using such model and algorithm. The result showed that with identification, the repeatability and length measurement precision were improved by 5.38 and 3.11 times respectively.
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Guo, Fayong, Hao Cai, Marco Ceccarelli, Tao Li, and Butang Yao. "Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint." Industrial Robot: the international journal of robotics research and application 47, no. 2 (December 16, 2019): 197–205. http://dx.doi.org/10.1108/ir-09-2019-0185.
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Purpose Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an extension of the axis. This leads to non-trivial problems which this study seeks to address by developing an improved convention. Design/methodology/approach First, the problems associated with the traditional D–H convention are systematically analyzed. Then, pursuant of solving these problems, an enhanced Denavit–Hartenberg (ED–H) convention is proposed, and a procedure is delineated for establishing the coordinate frame and obtaining the associated parameters. The transformation equations are derived based on a homogeneous matrix. The characteristics of traditional D–H and ED–H with regard to kinematics and dynamics are comprehensively compared. Finally, an application of dynamics for lead-through programming and collision protection is undertaken to validate the proposed ED–H method. Simulations and experiments are carried out using the Tiansui-One cooperative robot platform with the aim of exploring the merits of the proposed convention. Findings The proposed convention is compatible with traditional methods and can solve the problems inherent in these methods. The main characteristic of ED–H is that the coordinate system is fixed on the joint, which is a general modeling method. Originality/value An enhanced D–H convention is proposed to establish a unified, intuitive and accurate link model that exhibits stronger adaptability than traditional D–H and can be used effectively in kinematic and dynamic modeling of mechanical arms.
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Reza Elhami, Mohammad, and Iman Dashti. "A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices." IAES International Journal of Robotics and Automation (IJRA) 5, no. 3 (September 1, 2016): 213. http://dx.doi.org/10.11591/ijra.v5i3.pp213-222.
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In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.
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Dudici, Luciana Cristina, and Ion Simionescu. "On the Singularities of DELTA Parallel Robots." Applied Mechanics and Materials 762 (May 2015): 125–30. http://dx.doi.org/10.4028/www.scientific.net/amm.762.125.
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The major disadvantage of the parallel robot is that the singular positions are comprised into the work space. The singular positions are the particular poses for parallel robot DELTA where the mobility of the structure is not longer zero when the actuators are locked. Present analysis is focused on the determinant value of the Jacobian matrix of the kinematic analysis equation system, written using Denavit – Hartenberg transformation matrices. The kinematic equations possess the algebraic and trigonometric character, so that the inverse singularity analysis can be formulated. By instantaneous mobility analysis of the moving platform of the parallel robots, the geometric conditions for the forward singularity configurations are identified. Finally, a numerical example is solved in order to illustrate the variation of the Jacobian determinant in the proximity of a singular position.
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Sun, Zhen Zhong, Zeng Hong, and Sheng Gui Chen. "Error Model and Simulation to Arbitrary Point of Automobile Panels in Normal Mechanical Parameter Measurement Instrument." Advanced Materials Research 152-153 (October 2010): 263–68. http://dx.doi.org/10.4028/www.scientific.net/amr.152-153.263.
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By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a measurement kinematics model and a error model to arbitrary point of automobile panels in normal mechanical parameter measurement instrument, which the movement of the probe center is relative to machine reference frame is construct. On the basis of using wielding matrix function total differential method, building up the error delivery relation of parameter error of measuring motion model transform to the probe center, and having verified what be built the error model correctness by simulation. The error is enlarge mainly in the process of delivery from angle error, while length error are very minor in error effects. This research can establish a base for studying the measuring-error of portable type measures instrument and it's measuring accuracy.
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Chen, Shu Han, Hong Zhi Yan, and Shang Hong He. "Research on Real Tooth Surface Deviation Correction of Spiral Bevel Gear Based on Truncated Singular Value Decomposition." Advanced Materials Research 201-203 (February 2011): 1562–68. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.1562.
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According to structure of traditional milling machine, the tooth surface error identification model of forming processing spiral bevel gear is established by the 4×4 Denavit-Hartenberg homogeneous transformation matrix, the gear meshing theory and so on. In view of the present commonly used least squares method’s solution defects, the truncated singular value decomposition (TSVD) and the L curve method are proposed to solve the identification model and the solution method accuracy was verified by the example and experiment. The results show that the gear concave average error is at 0.01498mm before correction, and the average error will drop down to 0.00084mm after using this method correction, and the error corrects 94.4%. The gear convex average error is at 0.00846mm before correction and the average error will drop down to 0.00176mm after using this method correction and the error corrects 79.2%.
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Munadi, Munadi, and Beni Anggoro. "DESAIN DAN PEMODELAN HUMANOID ROBOT." ROTASI 16, no. 2 (April 1, 2014): 6. http://dx.doi.org/10.14710/rotasi.16.2.6-13.
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Artikel ini memaparkan tahapan dalam mendesain kontruksi mekanik humanoid robot yang sederhana. Desain sebagai tahapan awal dalam pembuatan humanoid robot sebelum dilakukan pemodelan kinematik dan pemodelan dinamik. Untuk pemodelan kinematik akan dilakukan analisa forward kinematics dengan menggunakan notasi parameter Denavit-Hartenberg (DH parameter). DH parameter menggunakan matrik homogeneous transformation 4x4 untuk menyatakan hubungan spasial antara dua link yang berhubungan, sehingga dengan matrik transformasi tiap link humanoid robot yang diperoleh dapat menyederhanakan masalah forward kinemtic. Pada pemodelan dinamik akan dilakukan analisa torsi pada joint ankle dengan menggunakan persamaan Lagrangian. Pemodelan dinamik diperoleh energi kinetik dan energi potensial yang terdapat pada tiap link humanoid robot, sehingga dari turunan persamaan Lagrangian diperoleh torsi pada joint ankle humanoid robot. Dalam pergerakan humanoid robot pada joint space mempunyai jalur lintasan (trajectory) sebagai fungsi trajectory terhadap waktu. Proses desain menggunakan alat bantu software SolidWorks dan untuk analisa perhitungan kinematik dan dinamik menggunakan software MATLAB.
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Pan, D., and R. S. Sharp. "Automatic Formulation of Dynamic Equations of Motion of Robot Manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 202, no. 6 (November 1988): 397–404. http://dx.doi.org/10.1243/pime_proc_1988_202_141_02.
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Based on the use of homogeneous transformation matrices with Denavit-Hartenberg notation and the Lagrangian formulation method, a general computer program ROBDYN.RED for the symbolic derivation of dynamic equations of motion for robot manipulators has been developed and is discussed in this paper. The program is developed by using REDUCE, an algebraic manipulation language, and is versatile for open-chain structure robot manipulators with any number of degrees of freedom and with any combination of types of joint. Considerations are also given to saving computer memory space required for execution and to minimizing the runtime. Several examples are included to demonstrate the use of the program. Equations of motion in scalar form can be automatically transferred to FORTRAN format for later numerical simulations. The efficiency of the resulting equations in terms of numerical integration is also discussed and some further developments to improve the efficiency are suggested.
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Zhang, Huizhen, Gang Cheng, Xianlei Shan, and Feng Guo. "Kinematic accuracy research of 2(3HUS+S) parallel manipulator for simulation of hip joint motion." Robotica 36, no. 9 (June 6, 2018): 1386–401. http://dx.doi.org/10.1017/s0263574718000073.
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SUMMARYIn this paper, the kinematic accuracy problem caused by geometric errors of a 2(3HUS+S) parallel manipulator is described. The kinematic equation of the manipulator is obtained by establishing a D–H (Denavit–Hartenberg) coordinate system. A D–H transformation matrix is used as the error-modeling tool, and the kinematic error model of the manipulator integrating manufacturing and assembly errors is established based on the perturbation theory. The iterative Levenberg–Marquardt algorithm is used to identify the geometric errors in the error model. According to the experimentally measured attitudes, the kinematic calibration process is simulated using MATLAB software. The simulation and experiment results show that the attitude errors of the moving platforms after calibration are reduced compared with before the calibration, and the kinematic accuracy of the manipulator is significantly improved. The correctness and effectiveness of the error model and the kinematic calibration method of the 2(3HUS+S) parallel manipulator for simulation of hip joint motion are verified.
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Fang, Qiang, Yu-Chao Li, Shao-Hua Fei, Yong-Wei Han, and Ying-Lin Ke. "Error Modeling and Compensation of Circular Motion on a New Circumferential Drilling System." Mathematical Problems in Engineering 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/286796.
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A new flexible circumferential drilling system is proposed to drill on the fuselage docking area. To analyze the influence of the circular motion error to the drilling accuracy, the nominal forward kinematic model is derived using Denavit-Hartenberg (D-H) method and this model is further developed to model the kinematic errors caused by circular positioning error and synchronization error using homogeneous transformation matrices (HTM). A laser tracker is utilized to measure the circular motion error of the two measurement points at both sides. A circular motion compensation experiment is implemented according to the calculated positioning error and synchronization error. Experimental results show that the positioning error and synchronization error were reduced by 65.0% and 58.8%, respectively, due to the adopted compensation, and therefore the circular motion accuracy is substantially improved. Finally, position errors of the two measurement points are analyzed to have little influence on the measurement result and the validity of the proposed compensation method is proved.
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Šegota, Sandi Baressi, Nikola Anđelić, Vedran Mrzljak, Ivan Lorencin, Ivan Kuric, and Zlatan Car. "Utilization of multilayer perceptron for determining the inverse kinematics of an industrial robotic manipulator." International Journal of Advanced Robotic Systems 18, no. 4 (July 1, 2021): 172988142092528. http://dx.doi.org/10.1177/1729881420925283.
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Inverse kinematic equations allow the determination of the joint angles necessary for the robotic manipulator to place a tool into a predefined position. Determining this equation is vital but a complex work. In this article, an artificial neural network, more specifically, a feed-forward type, multilayer perceptron (MLP), is trained, so that it could be used to calculate the inverse kinematics for a robotic manipulator. First, direct kinematics of a robotic manipulator are determined using Denavit–Hartenberg method and a dataset of 15,000 points is generated using the calculated homogenous transformation matrices. Following that, multiple MLPs are trained with 10,240 different hyperparameter combinations to find the best. Each trained MLP is evaluated using the R 2 and mean absolute error metrics and the architectures of the MLPs that achieved the best results are presented. Results show a successful regression for the first five joints (percentage error being less than 0.1%) but a comparatively poor regression for the final joint due to the configuration of the robotic manipulator.
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Xie, Jun, and Li Hui Kuang. "Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm." Applied Mechanics and Materials 43 (December 2010): 78–83. http://dx.doi.org/10.4028/www.scientific.net/amm.43.78.
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Based on the Chinese medical massage manipulation of rolling, pressing, kneading and pushing, the serial mechanical arm with six rotational joints and the end actuator with 3-DOF parallel mechanism are selected, and a new type of hybrid massage robot is proposed. The type synthesis of this massage arm is designed from two aspects, the arm and the wrist. 6R serial joint massage arm is adopted. Using Denavit-Hartenberg coordinate system, the kinematics model of this massage robot is established and the direct kinematic problem is solved by homogeneous coordinate transformation. The workspace of this Chinese medical massage arm is analyzed by the graphical approach. It shows that the length of upper arm and forearm of this kind of Chinese medical massage arm should be equal to make the work section largest. The workspace of this Chinese medical massage arm is also portrayed based on the Monte Carlo principle through programming on MATLAB. It indicates that the working points in the workspace of the manipulator are distributed compactly and uniformly, which can satisfy the Chinese medical massage requirements with high efficiency.
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Zhang, Jiabo, Xibin Wang, Ke Wen, Yinghao Zhou, Yi Yue, and Jizhi Yang. "A simple and rapid calibration methodology for industrial robot based on geometric constraint and two-step error." Industrial Robot: An International Journal 45, no. 6 (October 15, 2018): 715–21. http://dx.doi.org/10.1108/ir-05-2018-0102.
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Purpose The purpose of this study is the presentation and research of a simple and rapid calibration methodology for industrial robot. Extensive research efforts were devoted to meet the requirements of online compensation, closed-loop feedback control and high-precision machining during the flexible machining process of robot for large-scale cabin. Design/methodology/approach A simple and rapid method to design and construct the transformation relation between the base coordinate system of robot and the measurement coordinate system was proposed based on geometric constraint. By establishing the Denavit–Hartenberg model for robot calibration, a method of two-step error for kinematic parameters calibration was put forward, which aided in achievement of step-by-step calibration of angle and distance errors. Furthermore, KUKA robot was considered as the research object, and related experiments were performed based on laser tracker. Findings The experimental results demonstrated that the accuracy of the coordinate transformation could reach 0.128 mm, which meets the transformation requirements. Compared to other methods used in this study, the calibration method of two-step error could significantly improve the positioning accuracy of robot up to 0.271 mm. Originality/value The methodology based on geometric constraint and two-step error is simple and can rapidly calibrate the kinematic parameters of robot. It also leads to the improvement in the positioning accuracy of robot.
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Zhenhua, Wang, Xu Hui, Chen Guodong, Sun Rongchuan, and Lining Sun. "A distance error based industrial robot kinematic calibration method." Industrial Robot: An International Journal 41, no. 5 (August 12, 2014): 439–46. http://dx.doi.org/10.1108/ir-04-2014-0319.
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Purpose – The purpose of this paper is to present a distance accuracy-based industrial robot kinematic calibration model. Nowadays, the repeatability of the industrial robot is high, while the absolute positioning accuracy and distance accuracy are low. Many factors affect the absolute positioning accuracy and distance accuracy, and the calibration method of the industrial robot is an important factor. When the traditional calibration methods are applied on the industrial robot, the accumulative error will be involved according to the transformation between the measurement coordinate and the robot base coordinate. Design/methodology/approach – In this manuscript, a distance accuracy-based industrial robot kinematic calibration model is proposed. First, a simplified kinematic model of the robot by using the modified Denavit–Hartenberg (MDH) method is introduced, then the proposed distance error-based calibration model is presented; the experiment is set up in the next section. Findings – The experimental results show that the proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically. Originality/value – The proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.
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Li, Guozhi, Fuhai Zhang, Yili Fu, and Shuguo Wang. "Kinematic calibration of serial robot using dual quaternions." Industrial Robot: the international journal of robotics research and application 46, no. 2 (March 18, 2019): 247–58. http://dx.doi.org/10.1108/ir-10-2018-0221.
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Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe. Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC. Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.
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Alam, Md Moktadir, Soichi Ibaraki, and Koki Fukuda. "Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial." International Journal of Automation Technology 15, no. 5 (September 5, 2021): 599–610. http://dx.doi.org/10.20965/ijat.2021.p0599.
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In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has been investigated extensively. The main objective of this study is to review the kinematic modeling theory for a six-axis industrial robot. In the form of a tutorial, this paper defines a local coordinate system based on the position and orientation of the rotary axis average lines, as well as the derivation of the kinematic model based on the coordinate transformation theory. Although the present model is equivalent to the classical D-H model, this study shows that a different kinematic model can be derived using a different definition of the local coordinate systems. Subsequently, an algorithm is presented to identify the error sources included in the kinematic model based on a set of measured end-effector positions. The identification of the classical D-H parameters indicates a practical engineering application of the kinematic model for improving a robot’s positioning accuracy. Furthermore, this paper presents an extension of the present model, including the angular positioning deviation of each rotary axis. The angular positioning deviation of each rotary axis is formed as a function of the axis’ command angles and the direction of its rotation to model the effect of the rotary axis backlash. The identification of the angular positioning deviation of each rotary axis and its numerical compensation are presented, along with their experimental demonstration. This paper provides an essential theoretical basis for the error source diagnosis and error compensation of a six-axis robot.
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Prada, Erik, Srikanth Murali, Ľubica Miková, and Jana Ligušová. "APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS." Acta Mechatronica 5, no. 4 (December 31, 2020): 47–52. http://dx.doi.org/10.22306/am.v5i4.68.
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This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.
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Pan, Fang Yu, Jian Yin, and Ming Li. "Accuracy Calibration of 5-Axis Machine Tool Based on a Laser Approach." Applied Mechanics and Materials 263-266 (December 2012): 680–85. http://dx.doi.org/10.4028/www.scientific.net/amm.263-266.680.
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To improve the machining precision and reduce the geometric errors for 5-axis machine tool, error model and calibration are presented in this paper. Error model is realized by Denavit-Hartenberg matrixes and homogeneous transformations, which can establish the relationship between the cutting tool and the workpiece. The accuracy calibration was difficult to achieve, but by a laser approach, the errors can be displayed accurately which is benefit for later compensation.
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Huang, T. Y., H. W. Huang, D. D. Jin, Q. Y. Chen, J. Y. Huang, L. Zhang, and H. L. Duan. "Four-dimensional micro-building blocks." Science Advances 6, no. 3 (January 2020): eaav8219. http://dx.doi.org/10.1126/sciadv.aav8219.
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Four-dimensional (4D) printing relies on multimaterial printing, reinforcement patterns, or micro/nanofibrous additives as programmable tools to achieve desired shape reconfigurations. However, existing programming approaches still follow the so-called origami design principle to generate reconfigurable structures by self-folding stacked 2D materials, particularly at small scales. Here, we propose a programmable modular design that directly constructs 3D reconfigurable microstructures capable of sophisticated 3D-to-3D shape transformations by assembling 4D micro-building blocks. 4D direct laser writing is used to print two-photon polymerizable, stimuli-responsive hydrogels to construct building blocks at micrometer scales. Denavit-Hartenberg (DH) parameters, used to define robotic arm kinematics, are introduced as guidelines for how to assemble the micro-building blocks and plan the 3D motion of assembled chain blocks. Last, a 3D-printed microscaled transformer capable of changing its shape from a race car to a humanoid robot is devised and fabricated using the DH parameters to guide the motion of various assembled compartments.
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Perez, Alba, and J. M. McCarthy. "Dual Quaternion Synthesis of Constrained Robotic Systems." Journal of Mechanical Design 126, no. 3 (October 1, 2003): 425–35. http://dx.doi.org/10.1115/1.1737378.
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This paper presents a dual quaternion methodology for the kinematic synthesis of constrained robotic systems. These systems are constructed from one or more serial chains such that each chain imposes at least one constraint on the movement of the workpiece. Serial chains that have constrained workspaces can be synthesized by evaluating the kinematics equations of the chain on a finite set of task positions. In this case, the end-effector positions are known and the Denavit-Hartenberg parameters become design variables. Here we reformulate the kinematics equations in terms of successive screw displacements so the design variables are the coordinates defining the joint axes of the chain in a reference position. Then, dual quaternions defining these transformations are introduced to simplify the structure of the design equations. The result is a synthesis formulation that can be applied to a broad range of constrained serial chains, which can in turn be assembled into constrained parallel robots. We demonstrate the formulation and solution of the dual quaternion design equations for the spatial RPRP chain.
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Ashchepkova, Natalya Sergeevna. "STABILITY ANALYSIS OF SOFTWARE MANIPULATOR MOVEMENTS USING MATHCAD." Journal of Rocket-Space Technology 27, no. 4 (December 30, 2019): 52–57. http://dx.doi.org/10.15421/451908.
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Abstract. The method of the stability analysis of the manipulator program movements with use of Mathcad applied programs package is offered. On the basis of the manipulator’s kinematic scheme, the matrices of homogeneous transformations of Denavit Hartenberg are formed and a mathematical model of the extended control object is drawn up. An outline of an extended object control system consisting of a manipulator and an actuator is presented. For example, the linear equations of the manipulator, actuators, meter and controller are considered. The task of synthesizing the manipulator control algorithm is to determine the coefficients of the matrix transfer function of the controller that satisfy the conditions of stability and quality of transients. Mathematical modeling of manipulator programmatic movements was performed using the Matchad application package. The analysis of simulation results allows us to evaluate: manipulator workspace, control system performance, grip positioning accuracy, dependence of grip positioning error on the nature of load and the law of motion. A change in the dynamic characteristics of an extended control object causes a change in the controllability of systems, for the considered example rang Q = 2, i.e. the system is fully controllable.
This method can be used to analyze the manipulation of the manipulator at the design stage; allows to determine the influence of design, kinematic and dynamic parameters on the manipulation of the manipulator and perform mathematical modeling of the manipulator motion. Calculation examples are given that confirm the expediency and effectiveness of using the Mathcad application software package to solve this type of problem.
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Na, Yeong-min, Hyun-seok Lee, and Jong-kyu Park. "Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition." Journal of Mechanisms and Robotics 12, no. 1 (October 31, 2019). http://dx.doi.org/10.1115/1.4045246.
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Abstract This paper proposes a continuum robot that can be controlled automatically using image recognition. The proposed robot can operate in narrower spaces than the existing robots composed of links and joints. In addition, because it is automatically controlled through image recognition, the robot can be operated irrespective of the human controller's skill level. The manipulator is divided into two stages, with three wires connected to each stage to minimize the energy used to control the manipulator posture. The manipulator's posture is controlled by adjusting the length of the wire, similar to the relaxation and contraction of the muscles. Denavit–Hartenberg transformation and the Monte Carlo method were used to analyze the robot's kinematics and workspace. In a performance test, an experimental plate with nine targets was fabricated and the manipulator speed was adjusted to 5, 10, and 20 mm/s. Experimental results show that the manipulator was automatically controlled and reached all targets, with errors of 2.58, 3.28, and 9.18 mm.
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Singh, Aditya, Padmakar Pandey, and G. C. Nandi. "Effectiveness of multi-gated sequence model for the learning of kinematics and dynamics of an industrial robot." Industrial Robot: the international journal of robotics research and application ahead-of-print, ahead-of-print (December 9, 2020). http://dx.doi.org/10.1108/ir-01-2020-0010.
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Purpose For efficient trajectory control of industrial robots, a cumbersome computation for inverse kinematics and inverse dynamics is needed, which is usually developed using spatial transformation using Denavit–Hartenberg principle and Lagrangian or Newton–Euler methods, respectively. The model is highly non-linear and needs to deal with uncertainties because of lack of accurate measurement of mechanical parameters, noise and non-inclusion of joint friction, which results in some inaccuracies in predicting accurate torque trajectories. To get a guaranteed closed form solution, the robot designers normally follow Pieper’s recommendation and compromise with the mechanical design. While this may be acceptable for the industrial robots where the aesthetic look is not that important, it is not for humanoid and social robots. To help solve this problem, this study aims to propose an alternative machine learning-based computational approach based on a multi-gated sequence model for finding appropriate mapping between Cartesian space to joint space and motion space to joint torque space. Design/methodology/approach First, the authors generate sufficient data required for the sequence model, using forward kinematics and forward dynamics by running N number of nested loops, where N is the number of joints of the robot. Subsequently, to develop a learning-based model based on sequence analysis, the authors propose to use long short-term memory (LSTM) and hence, train an LSTM model, the architecture details of which have been discussed in the paper. To make LSTM learning algorithms perform efficiently, the authors need to detect and eliminate redundant features from the data set, which the authors propose to do using an elegant statistical tool called Pearson coefficient. Findings To validate the proposed model, the authors have performed rigorous experiments using both hardware and simulation robots (Baxter/Anukul robot) available in their laboratory and KUKA simulation robot data set made available from Neural Learning for Robotics Laboratory. Through several characteristic plots, it has been shown that a sequence-based LSTM model of deep learning architecture with non-redundant features could help the robots to learn smooth and accurate trajectories more quickly compared to data sets having redundancy. Such data-driven modeling techniques can change the future course of direction of robotics research for solving the classical problems such as trajectory planning and motion planning for manipulating industrial as well as social humanoid robots. Originality/value The present investigation involves development of deep learning-based computation model, statistical analyses to eliminate redundant features, data creation from one hardware robot (Anukul) and one simulation robot model (KUKA), rigorously training and testing separately two computational models (specially configured two LSTM models) – one for learning inverse kinematics and one for learning inverse dynamics problem – and comparison of the inverse dynamics model with the state-of-the-art model. Hence, the authors strongly believe that the present paper is compact and complete to get published in a reputed journal so that dissemination of new ideas can benefit the researchers in the area of robotics.