Abstract
In this paper the solutions of forward and inverse kinematics problem for Adept Six 300 robot are presented. A matrix method was used in computations. Presented algorithm was used in trajectory planning. Joint values are chosen from a given set of solutions. A graph of solutions is made. Nodes represent the solutions of inverse kinematics problem and arcs’ weight are the cost of transition between two configurations. Two criteria are proposed in order to obtain smooth motion with desired properties. Algorithm based on derived formulas and logical conditions has been implemented in Adept SmartController CX. A comparison between manufacturer’s and proposed algorithm is presented. Proposed solution of inverse kinematics problem allows for a smooth passage through singular points.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Mikulski, M.A., Szkodny, T.: Remote control and monitoring of AX-12 robotic arm based on windows communication foundation. In: Czachórski, T., Kozielski, S., Stańczyk, U. (eds.) Man-Machine Interactions 2. AISC, vol. 103, pp. 77–83. Springer, Heidelberg (2011)
Szkodny, T.: The basic component of computational intelligence for KUKA KR C3 robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds.) ICIRA 2011, Part I. LNCS, vol. 7101, pp. 44–52. Springer, Heidelberg (2011)
Szkodny, T.: Forward and inverse kinematics of IRb-6 manipulator. Mech. Mach. Theory 30, 1039–1056 (1995)
Chwila, S., Zawiski, R., Babiarz, A.: Developing and implementation of the walking robot control system. In: Gruca, A., Czachórski, T., Kozielski, S. (eds.) Man-Machine Interactions 3. AISC, vol. 242, pp. 101–110. Springer, Heidelberg (2014)
Babiarz, A., Klamka, J., Zawiski, R., Niezabitowski, M.: An approach to observability analysis and estimation of human arm model. In: 11th IEEE International Conference Control and Automation (ICCA), pp. 947–952 (2014)
Babiarz, A., Bieda, R., Jaskot, K., Klamka, J.: The dynamics of the human arm with an observer for the capture of body motion parameters. Bulletin of the Polish Academy of Sciences: Technical Sciences 61, 955–971 (2013)
Babiarz, A.: On mathematical modelling of the human arm using switched linear system. AIP Conference Proceedings 1637, 47–54 (2014)
Babiarz, A., Czornik, A., Niezabitowski, M., Zawiski, R.: Mathematical model of a human leg - the switched linear system approach. In: International Conference on Pervasive and Embedded Computing and Communication Systems (PECCS) (accepted, 2015)
Tchoń, K., Karpińska, J., Janiak, M.: Approximation of Jacobian inverse kinematics algorithms. Int. J. Appl. Math. Comput. Sci. 19, 519–531 (2009)
Wang, L., Chen, C.: A combined optimization method for solving the inverse kinematics problem of mechanical manipulators. IEEE Trans. Robot. Automat. 7, 489–499 (1991)
Bingual, Z., Ertunc, H.M., Oysu, C.: Comparison of inverse kinematics solutions using neural network for 6R robot manipulator with offset. In: 2005 ICSC Congress on Computational Intelligence (2005)
Szkodny, T.: Avoiding of the kinematic singularities of contemporary industrial robots. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds.) ICIRA 2014, Part II. LNCS, vol. 8918, pp. 183–194. Springer, Heidelberg (2014)
Pfeiffer, F., Johanni, R.: A concept for manipulator trajectory planning. In: Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, CA, April 7–10, pp. 1139–1405. IEEE, New York (1986)
Macfarlane, S., Croft, E.: Jerk-Bounded Robot trajectory planning: Design for real-time applications. IEEE Transactions on Robotics and Automation 19, 42–52 (2003)
Shuhua, M., Lin, Y., Zhigang, L., Jinkuan, W.: Trajectory planning of 6-DOF manipulator based on combination function method. In: The 26th Chinese Control and Decision Conference (2014 CCDC), pp. 3407–3411 (2014)
Badawy, A.: Manipulator trajectory planning using artificial potential field. In: 2014 International Conference on Engineering and Technology (ICET), pp. 1–6 (2014)
Pires, E.J.S., Machado, J.A.T., Oliveira, P.B.M.: Manipulator trajectory planning using a MOEA. Appl. Soft Comput. J. 7, 659–667 (2007)
Łȩgowski, A.: The Solving Algorithm of Inverse Kinematics Problem for Adept Robot. M.Sc. Dissertation. Silesian University of Technology, Gliwice, Poland (2014)
Dijkstra, E.: A note on two problems in connexion with graphs. Numerische Mathematik 1(269–271), 257 (1959)
Grzejszczak, T., Łȩgowski, A., Niezabitowski, M.: Robot manipulator teaching techniques with use of hand gestures. In: International Conference on Control Systems and Computer Science (CSCS) (accepted, 2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Szkodny, T., Łȩgowski, A. (2015). Planning and Realization of Singular Trajectories of Adept Six 300 Robot. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_27
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)