NDLI: Analysis of mutual interaction between joints of robots with branched kinematic chains

Content Provider	IEEE Xplore Digital Library
Author	Kolton, W. Trawinski, T.
Copyright Year	2015
Description	Author affiliation: Dept. of Mechatron., Silesian Univ. of Technol., Gliwice, Poland (Kolton, W.; Trawinski, T.)
Abstract	In this work dynamic couplings were presented, which occur in the kinematic chains of branched positioning systems, e.g.: medical robots da Vinci. Replacing torque generated by driveline by gravity force allows authors to treat branched manipulators as a branched pendulum, in which interactions between the different branches occur. Basing on the methodology of mathematical modeling of robots' manipulators, in this article is presented mathematical models of chosen branched manipulators. For all researched branched kinematic chains the dynamics matrices were prepared, and their internal structure expressed. Resultant dynamics matrices have block structure, in which some block was isolated and it denotes the self-inertial dynamics matrices of bough and branches, as well the bough-branch mutual interaction inertial matrices. Formulated mathematical models for positioning systems were simulated in MATLAB / Simulink, presenting them as a pendulum. Among examined chains there was selected kinematic chain, in which the interaction between the branches were the greatest, and then using the 3D printer there was made its model at the macro level. Using low-cost MEMS sensors attached on the axis of rotation of the individual branches displacements were measured indirectly. The results were compared with the results of the simulation. On the basis of results of simulations and measurements there were presented, which of manipulators' configurations are predisposed to mutual couplings in branched-chain positioning systems. For calculating angular positions Kalman filter for sensor fusion was used.
Starting Page	22
Ending Page	33
File Size	3192826
Page Count	12
File Format	PDF
ISBN	9783945728017
DOI	10.1109/REM.2015.7380370
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-18
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Deutsche Gesellschaft für Mechatronik
Subject Keyword	Jacobian matrices Correlation Kinematic chains Chlorine Kalman filter Quaterion Manipulators Silicon Branched manipulator Sensors fusion MATLAB Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Kinematic and singularity analysis of symmetrical 2 DOF parallel manipulators

Dynamic analysis of robotic manipulators with closed kinematic chains

Forward kinematic analysis of a planar cable driven redundant parallel manipulator using force sensors

Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains

Kinematic analysis of a dual-arm humanoid cooking robot

Singularity analysis of 6DOF Stäubli© TX40 robot

Kinematic analysis of a novel spatial uncoupled parallel manipulator

Kinematics Analysis of an Asymmetrical 3-DOF Spatial Parallel Manipulator

Kinematic modelling of anthropomorphic robot upper limb with human-like hands

Analysis of mutual interaction between joints of robots with branched kinematic chains

Similar Documents

Kinematic and singularity analysis of symmetrical 2 DOF parallel manipulators

Dynamic analysis of robotic manipulators with closed kinematic chains

Forward kinematic analysis of a planar cable driven redundant parallel manipulator using force sensors

Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains

Kinematic analysis of a dual-arm humanoid cooking robot

Singularity analysis of 6DOF Stäubli© TX40 robot

Kinematic analysis of a novel spatial uncoupled parallel manipulator

Kinematics Analysis of an Asymmetrical 3-DOF Spatial Parallel Manipulator

Kinematic modelling of anthropomorphic robot upper limb with human-like hands

Analysis of mutual interaction between joints of robots with branched kinematic chains