LabVIEW™ Instrumentation for the Assisted Research of the Robot's Kinematics

Abstract

Solving of the robots is one of the base important problem in robotics. Forward and Inverse kinematics are the problem that without them not possible to control the movements of all joints in the robots workspace. Now, many applications need the multi robots with complex space movements that impose one complex control method. Solving the kinematics problem for the multi robots applications is very difficult because there are many variable parameters (internal robots coordinates) and many redundant solutions (difference between the number of degree of freedom and number of scalar equations). In the paper are show the state of art of the robots forward and inverse kinematics (FK, IK) and the new proposed smart method. The paper proposes one assisted method solving of the forward and inverse kinematics with the goal to minimize the final end-effecters trajectory errors, by optimizing the distance between the final position of the end-effecter and the target. The proper virtual LabVIEW instrumentation used in the assisted research open the way to some other applications like: programming the collaborative robots, exoscheleton robots and multi- robots applications. The proposed method was applied to many types of the robot's structures. We were shown one complete study case and the obtained trajectory errors of the one arm type robot fixed on the ceiling. The presented method is general and can be used in all other robots types and for all other conventional and unconventional space curves.