Abstract
With the growing number of various robots in the world, the task of inverse kinematics still presents interest for researchers. In this paper, we show a group of robots with similar convenient structure, named simplified tree structure (STS), and suggest an approach to find a solution for these robots in a simple way. The approach is demonstrated on the example of a robot with three branches which can form different kinematic loops. An algorithm is also presented that unifies IK solution for a 5-DoF arm of certain structure with usual sufficient 6-DoF arm. Both algorithms are verified on 3-D models in Unity3D engine.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Lee, C.S.G.: A Geometric Approach In Solving the Inverse Kinematics of PUMA Robots—College of Engineering. College of Engineering, The University of Michigan, Ann Arbor (1983)
Englsberger, J., Werner, A., Ott, C., et al.: Overview of the torque-controlled humanoid robot TORO. In: Proceedings of 14th International Conference on Humanoid Robots, pp. 919–923 (2014)
Hutter, M., Gehring, C., Jud, D., et al.: ANYmal-a highly mobile and dynamic quadrupedal robot. In: International Conference on Intelligent Robots and Systems IROS, pp. 38–44 (2016)
Khatib, O.: A unified approach for motion and force control of robot manipulators: the operational space formulation. J. Robot. Autom. 1(3), 43–53 (1987)
Shardyko, I., Yusupov, A.: Implementation of stiff and compliant trajectory control for joint of space manipulation systems. Robot. Tech. Cybern. 4(21), 60–67 (2018)
KUKA Homepage, 6. https://www.kuka.com/en-de. Last accessed 27 Feb 2019
Diftler, M.A., et al.: Robonaut 2—initial activities on-board the ISS. In: 2012 IEEE Aerospace Conference Proceedings, pp. 1–12 (2012)
Bischoff, R., Huggenberger, U., Prassler, E.: KUKA YouBot—a mobile manipulator for research and education. In: Proceedings of IEEE International Conference on Robotics and Automation ICRA, pp. 1–4 (2011)
Shardyko, I.: On mathematical description of manipulation system for the inspection of metal surface of the upper block pipes. In: Proceedings of the International Scientific and Technological Conference EXTREME ROBOTICS (2015)
Dalyaev, I., Kuznetsova, E., Shardyko, I.: Development prospects of robotic service satellites for maintenance purposes and active lifetime extension of spacecraft. Robot. Tech. Cybern. 3(8), 27–31 (2015)
Shardyko I., Dalyaev I., Titov V.: A force-controlled robotic system for a servicing spacecraft: concept design and development testing. In: Advances in the Astronautical Sciences, 3rd Conference “Dynamics and Control of Space Systems”, DyCoSS (2017)
Siciliano, B., Khatib, O.: Handbook of Robotics, 2nd edn. Springer, Berlin, Heidelberg (2016)
Ruppel, P., et al.: Cost functions to specify full-body motion and multi-goal manipulation tasks. In: Proceedings of IEEE International Conference on Robotics and Automation ICRA (2016)
Robot “Captain”. http://rtc.ru/ru/nazemnaya-robototekhnika/robot-kapitan. Accessed 27 Feb 2019
Chizhevskiy, R., et al.: The active test facility and experimental study of the multilink space robot in ground conditions. In: IEEE 3rd International Symposium in Robotics and Manufacturing Automation ROMA (2017)
Dalyaev, I., et al.: Design features of a mobile robot for EVA at ISS. In: Proceedings of XII International Scientific-Practical Conference, Yu. A. Gagarin Research & Test Cosmonaut Training Center (2017)
Acknowledgements
This research is supported by the Ministry of Education and Science of Russia, state assignment at Peter the Great St. Petersburg Polytechnic University (Department of “Mechatronics and Robotics”), project № 9.4040.2017/4.6.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Shardyko, I., Dalyaev, I., Nanyageev, I., Shmakov, O. (2020). Inverse Kinematics Solution for Robots with Simplified Tree Structure and 5-DoF Robot Arms Lacking Wrist Yaw Joint. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_10
Download citation
DOI: https://doi.org/10.1007/978-981-13-9267-2_10
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-9266-5
Online ISBN: 978-981-13-9267-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)