A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators

Emre Sariyildiz; Hakan Temeltas

doi:10.1109/ICMA.2011.5985630

A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators

Emre Sariyildiz^*
, Hakan Temeltas

^*Corresponding author for this work

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

This paper compares three inverse kinematic formulation methods for industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. Paden-Kahan sub problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods and simulation results are given.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	52-57
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985630
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Industrial Robot-Arms
Paden-Kahan Subproblems
Quaternion
Screw Theory
Singularity Free Inverse Kinematic

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10.1109/ICMA.2011.5985630

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Sariyildiz, E., & Temeltas, H. (2011). A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 52-57). Article 5985630 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985630

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title = "A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators",

abstract = "This paper compares three inverse kinematic formulation methods for industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. Paden-Kahan sub problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods and simulation results are given.",

keywords = "Industrial Robot-Arms, Paden-Kahan Subproblems, Quaternion, Screw Theory, Singularity Free Inverse Kinematic",

author = "Emre Sariyildiz and Hakan Temeltas",

year = "2011",

doi = "10.1109/ICMA.2011.5985630",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "52--57",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

}

Sariyildiz, E & Temeltas, H 2011, A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985630, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 52-57, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985630

A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators. / Sariyildiz, Emre; Temeltas, Hakan.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 52-57 5985630 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper compares three inverse kinematic formulation methods for industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. Paden-Kahan sub problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods and simulation results are given.

AB - This paper compares three inverse kinematic formulation methods for industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. Paden-Kahan sub problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods and simulation results are given.

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KW - Singularity Free Inverse Kinematic

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A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators

Abstract

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UN SDGs

Keywords

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