Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

Štefan Ondočko,Tomáš Stejskal,Jozef Dobránsky,Lukáš Hrivniak,Michal Šašala,Peter Demeč,Jozef Svetlík,Zdenko Bobovský

doi:10.3390/app11031203

Štefan Ondočko, Tomáš Stejskal + Show 6 more

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https://doi.org/10.3390/app11031203

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Abstract

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

Highlights

IntroductionThe paper addresses data processing (in particular those of joints coordinates, which are, in the case at hand, the angles of rotation) designated for a stationary robotic arm composed of the so-called universal rotational modules (URM) modules, described in detail in [1,2,3]
The paper addresses data processing designated for a stationary robotic arm composed of the so-called universal rotational modules (URM) modules, described in detail in [1,2,3]
Individual rotation positions are the result of the inverse kinematics of the mentioned robot’s arm. When it comes to kinematics of an inverse position, we look for such joint coordinate vectors of the open kinematic chain as would suit the required position and the orientation of the end effector’s coordinate system

Summary

Introduction

The paper addresses data processing (in particular those of joints coordinates, which are, in the case at hand, the angles of rotation) designated for a stationary robotic arm composed of the so-called URM modules, described in detail in [1,2,3]. Modular and reconfigurable robots offer great versatility, robustness and—thanks to their series production—low costs, which is mentioned by many authors addressing this issue [8,9,10] Those modular, reconfigurable robots that consist of many modules (the number of their degrees of freedom is usually much greater than 6) have the ability to reconfigure themselves into a large number of shapes. If this is the case, the robot can change its shape to meet the requirements of different tasks

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