Reference Trajectory Tracking For A Multi Dof Robot Arm Archives Of Control Sciences Research Paper

4333 words - 18 pages

Archives of Control Sciences
Volume 25(LXI), 2015
No. 4, pages 513–527
Reference trajectory tracking for a multi-DOF
robot arm
RÓBERT KRASŇANSKÝ, PETER VALACH, DÁVID SOÓS, JAVAD ZARBAKHSH
This paper presents the problem of tracking the generated reference trajectory by the
simulation model of a multi-DOF robot arm. The kinematic transformation between task
space and joint configuration coordinates is nonlinear and configuration dependent. To
obtain the solution of the forward kinematics problem, the homogeneous transformation
matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordi-
nates calculated using of pseudoinverse Jacobian technique. These coordinates correspond
to a set of task space coordinates. The algorithm is presented which uses iterative solution
and is simplified by considering stepper motors in robot arm joints. The reference trajec-
tory in Cartesian coordinate system is generated on-line by the signal generator previously
developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing
data with Matlab-Simulink. These data represent the reference tracking trajectory of the end
effector. Matlab-Simulink software is used to calculate the representative joint rotations.
The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm
system.
Key words: inverse kinematics, real-time reference tracking, signal generator, multi-DOF,
dynamic data exchange.
1. Introduction
Robotics represents one of the main disciplines in the industry. The synergy of ro-
botics with other applications like car assembly operations, vision systems or artificial
intelligence allows not only for innovations but also reduces the manufacture costs. In
the kinematic analysis of a robot arm position, two separate problems have to be solved:
forward kinematics and inverse kinematics. Forward kinematics includes solving the
forward transformation equation to find the location of the hand in terms of the angles
and displacements between the links of the robot arm.
R. Krasňanský, P. Valach and D. Soós are with Faculty of Electrical Engineering and IT, Slovak Uni-
versity of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, Slovak Republic. E-mails:(robert.kras-
nansky, peter.valach, david.soos)@stuba.sk. J. Zarbakhsh is with Carinthia University of Applied Science,
Europastrasse 4, 9524 Villach, Austria. E-mail: zarbakhsh@cuas.at.
Received 16.07.2015.
This work has been supported by Grant N. 1/1241/12 of the Slovak Scientific Grant Agency.
Unauthenticated
Download Date | 5/4/16 8:06 AM
514 R. KRASŇANSKÝ, P. VALACH, D. SOÓS, J. ZARBAKHSH
In order to find the corresponding sets of joint angle given the desired position and
orientation of the end effector it is necessary to solve the inverse kinematics problem.
Inverse kinematics, on the other hand, includes solving the inverse transformation equa-
tions in order to find the relationships between the links of the robot arm from ...

RELATED

Marketing Plan For Development Of Multi-Cultural Calendar

4971 words - 20 pages calendars.Although many people use electronic calendars and day planner calendars, most probably also have hard-copy calendars around their homes as well. Despite the convenience of electronic calendars, hard-copy calendars continue to be a familiar tool for most people to go back to for reference.2.6 MARKET NEEDSCalendars are available in many different formats and mediums. Consumer needs are different. Some research the many calendars available

Prose Essay for the reference of Odyssey - Nobleton - Essay

601 words - 3 pages Damien Washington April 28, 2019 An Ode to Calypso Stranded. Floating. Clinging onto the last piece of wood left from your puny, little sail boat. The ocean cradles you like a mother cradles her new-born child, you latching onto her supple breast for sustenance and protection. However, the calm waves are not here to nurture you, as the tempestuous nature of the sea draws closer and closer along from the horizon. The waves must find a suitable

Position Paper- Disaster Control - ENG3U - research paper

1448 words - 6 pages , the Government of India established the Disaster Management Act. They took on the responsibilities for framing policies, laying down guidelines, and practices that coordinate to ensure a rational approach to disaster management. In 2016, the Indian government created the country’s first Disaster Management Plan, which works in accordance with the provisions of the Disaster Management Act. India set a fine example to the rest of the world when it

Free Flight: Next Generation of Air Traffic Control - Everglades University - Aviation - Research Paper

1285 words - 6 pages 1 Running head: FREE FLIGHT 2 FREE FLIGHT Free Flight Free flight is a developing air traffic control method. This new concept is being put forward to help modernize air traffic management by using technology. The concept would put the responsibility of safety and efficiency on the Pilot in Command instead of having these responsibilities on air traffic control. With the use of technology, flight plans will be able to be made and improvised

Coldness And Selfishness Of Male Characters In Thomas Hardy's "The Withered Arm" And Anton Chekhov's "A Misfortune"

1104 words - 5 pages because of him. Then, his coldness and selfishness appear again with Gertrude. He Marries Gertrude for her "grace and beauty". At first, he cares about her. Then, after some years, his love to her increases when her beauty fades due to the harm of her arm. And because she doesn't bring him a child, he thinks of Rhoda and her son. He thinks that what happens with him is a judgment from God. "You want somebody to cheer you," he observed. "I once

Critical assignment for a humanities class about the art of three different types of styles - Concordia - Research paper

2100 words - 9 pages Conrado 1 Conrado 9 Megan Conrado Professor Provance Humanities 213 February 26, 2018 Integrated Research Paper Who are we? Why are we here? How can we explain this place we live in and all the things surrounding us? Before philosophy, ancient civilizations relied on myths and religious texts to explain everything Earth consisted of. Archaic Greece (c. 620 BC – 480 BC) was not only the foundation for reestablishing a demolished country after the

Control Systems in Petroleum Industry - University - Case Study/ Research Paper

3019 words - 13 pages Control and Data Acquisition uses extensive communication networks, graphical user interfaces and computers for controlling process. GUI: Graphical User Interface, shows data in the form of graphs. RTU: Remote Terminal Unit, contains a microprocessor and sends data to a master system MTU: Master Terminal Unit, give instructions to RTU. • History: Control systems have greatly evolved in the last few decades. Before the development of control systems

Helping an Individual Develop Self Control - Behavior Analysis - Research Paper

948 words - 4 pages Martin and Pear, “a behavioral model of self-control is a statement that self-control occurs when an individual behaves in some way that arranges the environment to manage his or her subsequent behavior”. In the following paragraphs are five steps in a self-control program that can be implemented for effective results. The first step is to specify the problem and set goals. To begin, start by writing out a goal. Next, make a list of what could

Does Australia Need A Federal Bill Of Rights? Discus With Reference To Specific Cases And Legislation

2002 words - 9 pages France and the United States of America are two countries that have seen fit to implement a 'Bill of Rights' into their constitution, which guarantees the liberties and freedoms of the individual, and reinforces the basic rights of all human beings. But does Australia Need a Bill Of Rights? The Australian Constitution does not include a specific section detailing the rights of the individual, although it has existed for over a century through

"Conflict Is Central To All Drama" - Discuss In Reference To Death Of A Salesman

908 words - 4 pages dreams onto his sons, especially Biff. As the popular high school football player, Biff opitomises many of Willy's dreams for himself. Biff is handsome, popular, and seems sure to be successful. Unfortunately one of Willy's failures, his infidelity to Linda, changes Biff's view of Willy so he no longer believes the lies that Willy tells. The loss of his son's support is a heavy blow to Willy's pride, but his lack of connection to reality means he

homework paper for treaty of versailles - texas southern - research

2357 words - 10 pages - The Treaty of Sevres 20th August 1920: Land - Turkey lost land to Greece. The League of Nations took control of Turkey's colonies. November 19, 1919: Senate Rejected Treaty of Versailles A Bitter Rejection of the Treaty of Versailles: Democratic President Woodrow Wilson and Republican Senator Henry Cabot Lodge had disliked one another for years. Among the first to earn doctoral degrees from the nation’s newly established graduate schools, each man

Analysis of Amazon for Investors - Managerial Finance - Research Paper

603 words - 3 pages hiring of several delivery drivers across the country. In future, Amazon alongside Berkshire Hathaway, and JPMorgan Chase, would begin collaborating to address healthcare issues for U.S. employees, with the aim of improving employee satisfaction and reducing costs. The partnership will see the formation of an independent company, at which a top-level executive from each respective firm will take lead. Over the past few years, Amazon has diversified

Essay On Marital Rape, As Well As A Historical Background On The Sexual Manipulation And Control Of Women. This Was Written For A Senior Level Behavioral Science Course

4373 words - 18 pages . 255-57).Christianity, also, did nothing for the case of women and their rights. The Church, in conjunction with the State dipped its' hands into the pot of abuse by condemning any control that a woman may have over her own body. The church, particularly the Catholic Church, condemned any form of birth control. The Church also forbade abortions and the rhythm method. Clearly, the intent was for a woman to know her place in the family home and to

Education for All: Research Paper - New York Institute of Technology - Research Paper

1151 words - 5 pages Higher Education for All In recent years, there has been a debate as to whether or not the United States of America should provide its citizens with free university education. This subject is very controversial; however, the problems that some people see in free higher education do have solutions and the benefits of free university outweighs the risks. If college became free, an economic class gap in education would be closed. In other words

Research essay over gun control/pro-gun rights - AP Language and Composition - Research paper

2036 words - 9 pages are those that argue for the ban of guns, stricter gun laws, regulation on gun accessories and ammunition. This side would rather have the safety of the general population than have the right to self defense. Gun controls do not control criminals, they only keep law abiding citizens from protecting themselves. The right guaranteed by the Second Amendment should not be taken away from U.S. citizens. There is a multitude of organizations of both