Numerical robot kinematics based on stochastic and molecular simulation methods
نویسندگان
چکیده
Multilink robot arms are geometrically similar to chain molecules. We investigate the performance of molecular simulation methods, combined with stochastic methods for optimization, when applied to problems of robotics. An eecient and exible algorithm for solving the inverse kinematic problem for redundant robots in the presence of obstacles (and other constraints) is suggested. This \Constrained Kinematics / Stochastic Optimization" (CKSO) method is tested on various standard problems.
منابع مشابه
Simulation of Position Based Visual Control and Performance Tests of 6R Robot
This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...
متن کاملKinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D Reappearance of a complete gait was achieved. Finally,...
متن کاملNeural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot
Forward kinematics problem of parallel robots is a very difficult problem to solve in comparison to the serial manipulators due to their highly nonlinear relations between joint variables and position and orientation of the end effector. This problem is almost impossible to be solved analytically. Numerical methods are the most common approaches to solve this problem. Nevertheless, the possible...
متن کاملNumerical solution and simulation of random differential equations with Wiener and compound Poisson Processes
Ordinary differential equations(ODEs) with stochastic processes in their vector field, have lots of applications in science and engineering. The main purpose of this article is to investigate the numerical methods for ODEs with Wiener and Compound Poisson processes in more than one dimension. Ordinary differential equations with Ito diffusion which is a solution of an Ito stochastic differentia...
متن کاملDesign, Modeling, Implementation and Experimental Analysis of 6R Robot (TECHNICAL NOTE)
Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Robotica
دوره 14 شماره
صفحات -
تاریخ انتشار 1996