A method for the automatic generation of inverse kinematic maps in modular robotic systems

A method for the automatic generation of inverse kinematic maps in modular robotic systems

Flexible manufacturing based on rapidly reconfigurable robotic systems will enable factories to meet time-sensitive and fast-changing industrial demands. However, with the rise of modular systems there is also the need to quickly and easily determine which configuration is optimal for performing a c...

Full description

Bibliographic Details
Main Authors: Mohammad Mayyas, Rochelle Mellish
Format: Article
Language:English
Published: SAGE Publishing 2016-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881416662790
id doaj-f0c3b0648fbc44f98a34a0938b22a2b8
record_format Article
spelling doaj-f0c3b0648fbc44f98a34a0938b22a2b82020-11-25T03:15:32ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-10-011310.1177/172988141666279010.1177_1729881416662790A method for the automatic generation of inverse kinematic maps in modular robotic systemsMohammad Mayyas0Rochelle Mellish1 Department of Engineering Technologies, Bowling Green State University, Bowling Green, OH, USA Department of Aeronautical and Astronautical Engineering, Purdue University, West Lafayette, IN, USAFlexible manufacturing based on rapidly reconfigurable robotic systems will enable factories to meet time-sensitive and fast-changing industrial demands. However, with the rise of modular systems there is also the need to quickly and easily determine which configuration is optimal for performing a certain task. In this article, we present a path-based ad hoc technique for determining the inverse and forward kinematics map based on relative joint space variable to reduce the computational complexity. The proposed technique is nonsingular and suits kinematic analysis and optimization of robotic systems with undetermined configuration, and it can be extended to solve generalized inverse kinematic of robotics system involving large number of joint variable.https://doi.org/10.1177/1729881416662790
collection DOAJ
language English
format Article
sources DOAJ
author Mohammad Mayyas
Rochelle Mellish
spellingShingle Mohammad Mayyas
Rochelle Mellish
A method for the automatic generation of inverse kinematic maps in modular robotic systems
International Journal of Advanced Robotic Systems
author_facet Mohammad Mayyas
Rochelle Mellish
author_sort Mohammad Mayyas
title A method for the automatic generation of inverse kinematic maps in modular robotic systems
title_short A method for the automatic generation of inverse kinematic maps in modular robotic systems
title_full A method for the automatic generation of inverse kinematic maps in modular robotic systems
title_fullStr A method for the automatic generation of inverse kinematic maps in modular robotic systems
title_full_unstemmed A method for the automatic generation of inverse kinematic maps in modular robotic systems
title_sort method for the automatic generation of inverse kinematic maps in modular robotic systems
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2016-10-01
description Flexible manufacturing based on rapidly reconfigurable robotic systems will enable factories to meet time-sensitive and fast-changing industrial demands. However, with the rise of modular systems there is also the need to quickly and easily determine which configuration is optimal for performing a certain task. In this article, we present a path-based ad hoc technique for determining the inverse and forward kinematics map based on relative joint space variable to reduce the computational complexity. The proposed technique is nonsingular and suits kinematic analysis and optimization of robotic systems with undetermined configuration, and it can be extended to solve generalized inverse kinematic of robotics system involving large number of joint variable.
url https://doi.org/10.1177/1729881416662790
work_keys_str_mv AT mohammadmayyas amethodfortheautomaticgenerationofinversekinematicmapsinmodularroboticsystems
AT rochellemellish amethodfortheautomaticgenerationofinversekinematicmapsinmodularroboticsystems
AT mohammadmayyas methodfortheautomaticgenerationofinversekinematicmapsinmodularroboticsystems
AT rochellemellish methodfortheautomaticgenerationofinversekinematicmapsinmodularroboticsystems
_version_ 1724638990467858432

Similar Items