Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis
Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing co...
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doaj-a919a31075d6473f9fec503ba80a62dd2021-04-15T23:04:10ZengMDPI AGApplied Sciences2076-34172021-04-01113548354810.3390/app11083548Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its SynthesisDaniel Huczala0Tomáš Kot1Martin Pfurner2Dominik Heczko3Petr Oščádal4Vladimír Mostýn5Department of Robotics, Faculty of Mechanical Engineering, VSB-TU of Ostrava, 17. Listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU of Ostrava, 17. Listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicUnit of Geometry and Surveying, University of Innsbruck, Technikerstr. 13, A-6020 Innsbruck, AustriaDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU of Ostrava, 17. Listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU of Ostrava, 17. Listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-TU of Ostrava, 17. Listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicResearchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used to find the optimum design but they often require an estimated initial kinematic structure as input, especially if local-optimum-search algorithms are used. This paper presents four different algorithms for such an estimation using the standard Denavit–Hartenberg convention. Two of the algorithms are able to reach a given position and the other two can reach both position and orientation using Bézier splines approximation and vector algebra. The results are demonstrated with three chosen example poses and are evaluated by measuring manipulability and the total link length of the final kinematic structures.https://www.mdpi.com/2076-3417/11/8/3548manipulator designrobot kinematicssynthesis of kinematic structure |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Daniel Huczala Tomáš Kot Martin Pfurner Dominik Heczko Petr Oščádal Vladimír Mostýn |
spellingShingle |
Daniel Huczala Tomáš Kot Martin Pfurner Dominik Heczko Petr Oščádal Vladimír Mostýn Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis Applied Sciences manipulator design robot kinematics synthesis of kinematic structure |
author_facet |
Daniel Huczala Tomáš Kot Martin Pfurner Dominik Heczko Petr Oščádal Vladimír Mostýn |
author_sort |
Daniel Huczala |
title |
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis |
title_short |
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis |
title_full |
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis |
title_fullStr |
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis |
title_full_unstemmed |
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis |
title_sort |
initial estimation of kinematic structure of a robotic manipulator as an input for its synthesis |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-04-01 |
description |
Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used to find the optimum design but they often require an estimated initial kinematic structure as input, especially if local-optimum-search algorithms are used. This paper presents four different algorithms for such an estimation using the standard Denavit–Hartenberg convention. Two of the algorithms are able to reach a given position and the other two can reach both position and orientation using Bézier splines approximation and vector algebra. The results are demonstrated with three chosen example poses and are evaluated by measuring manipulability and the total link length of the final kinematic structures. |
topic |
manipulator design robot kinematics synthesis of kinematic structure |
url |
https://www.mdpi.com/2076-3417/11/8/3548 |
work_keys_str_mv |
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