A Hybrid Appproach to Inverse Kinematics Modeling and Control of Pioneer 2 Robotic Arms
نویسندگان
چکیده
— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely used robotic arm (Pioneer 2 robotic arm), which, combined with an optimal search method, provides an effective solution to the modeling and control of the Pioneer 2 robotic arm. I. INTRODUCTION Inverse kinematics modeling has been one of the main problems in robotics research. The most popular method for controlling robotic arms is still based on look-up tables that are usually designed in a manual manner [1]-[3]. Alternative methods include neural networks [4]-[11] and optimal search [12], which often encounter problems caused by the fact that the inverse kinematics systems of most robotic arms are multi-valued and discontinuous functions [9]. For robotic manipulators that are redundant or with high degrees of freedom (dof), there are hardly effective solutions to the inverse kinematics problem except for the manually designed look-up table method that is limited to applications with a priori known trajectory movements. The Pioneer 2 robotic arm (P2Arm) developed by ActivMedia Robotics has been widely used for robotics research, teaching, and development (http://robots.activmedia.com/). However, to date there is no analytical inverse kinematics solution for the P2Arm.
منابع مشابه
A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm
For robotic manipulators that are redundant or with high degrees of freedom (dof ), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kine...
متن کاملExperimental Identification and Hybrid PID-Fuzzy Position Control of Continuum Robotic Arms
Continuum robotic arms that are inspired from nature, have many advantages compared to traditional robots, which motivate researchers in this field. Dynamic modeling and controlling these robots are challenging subjects due to complicated nonlinearities and considerable uncertainties existing in these structures. In this paper, first a dynamic three-dimensional model of the continuum robotic ar...
متن کاملTrajectory Generation and Tracking of a 5-dof Robotic Arm
The main problem in trajectory generation and tracking of robotic manipulators is to plan the trajectory and compute the required joint angles. Inverse kinematics modelling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. This paper presents a comparison between an analytical inverse kinematics based hybrid appro...
متن کاملAn LPV Approach to Sensor Fault Diagnosis of Robotic Arm
One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...
متن کاملModeling Flexibility Effects in Robotic Arms Via the Modified 4x4 D-H Homogeneous Transformation
This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...
متن کامل