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
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
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) J. Zarbakhsh is with Carinthia University of Applied Science,
Europastrasse 4, 9524 Villach, Austria. E-mail:
Received 16.07.2015.
This work has been supported by Grant N. 1/1241/12 of the Slovak Scientific Grant Agency.
Download Date | 5/4/16 8:06 AM
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 its...

Other Essays On Reference trajectory tracking for a multi-DOF robot arm - Archives of Control Sciences - research paper

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

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

Climatologist paper for science - biology - research paper

457 words - 2 pages the coastlines of continents separated by an ocean. As he pondered this, he put the fossil information together with his observation that the Atlantic coasts of South America and Africa appeared to fit together as if it were a puzzle. He wondered if the continents had been joined together at one time. Wegener began to look for supporting evidence for this idea. Past scientists noticed the edges of one continent could almost fit like a puzzle

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

A Bibliography of Roy Fuller's Life - English - Research Paper

1177 words - 5 pages 2 Jessea Baring Mary Ann Gillies ENGL 438 07/02/2019 Paper 1: Roy Fuller Roy Broadbent Fuller was born on February 11th 1912 in Failsworth, Lancashire. He was born into a lower-middle-class family and his father, Leopold Charles, worked as a manager of a rubber-proofing mill. Following his father’s death, Roy’s mother, Nellie Broadbent Fuller, moved him and his brother to Blackpool where he attended high school. He describes his upbringing as

Antibiotics: A History of Common Antibiotics - Biology 101 - Research Paper

3017 words - 13 pages of his discovery, worked at St. Mary’s Hospital in London looking for a bacteria-killing substance. He, in September of 1928, walked in to his lab and saw a petri plate that had a curious white fluffy mold growing on it. The petri plate was most likely contaminated by a spore from a nearby lab which might be the reason why the mold grew on it. He observed the mold under a microscope and noticed the bacterial cells, that surround the mold, were

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

world war 1 research paper of a soldier by the name of Alvin C. York. - World history - Research paper

420 words - 2 pages battalion commander, Maj. Gonzalo "George" Edward Buxton, convinced him to fight. Alvin was a natural with a rifle do to his years of hunting and gathering for his family. Soon he was in Europe waging war against America's enemies. Alvin C. York He served with his unit in the St. Mihiel offensive in northeastern France in September 1918. The attack weakened German forces in northern France and set the stage for attacks in the Argonne Forest and

A research paper on Cancer I wrote - English - Research Paper

967 words - 4 pages , unlike Benign tumors, they're made up of cells that spiral out of control, and occupy other parts of the body. A Benign tumor is not cancerous and usually can be removed by surgery.  Different symptoms for different types of cancer occur. Five characteristics of cancer include self-sufficiency in growth signaling, and insensitivity to anti-growth signals. Others include invasion of apoptosis, enabling of limit less replicative potential , and

Similar Papers

Position Paper Disaster Control Eng3 U 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

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

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