Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space
The work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide range of robots by using a geometric approach, r...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Algorithms |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1999-4893/15/12/469 |
| _version_ | 1797461845599059968 |
|---|---|
| author | Ivan Chavdarov Bozhidar Naydenov |
| author_facet | Ivan Chavdarov Bozhidar Naydenov |
| author_sort | Ivan Chavdarov |
| collection | DOAJ |
| description | The work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide range of robots by using a geometric approach, representing points in a polar coordinate system. Inverse kinematics, which is one of the most important, most studied and challenging problems in robotics, aims to calculate the values of the joint variables, given the desired position and orientation of the robot’s end effector. Configuration space is defined by joint angles and is the basis of most motion planning algorithms. Areas in the working and configuration space are generated that are reachable with different types of solutions. Programs are created that use the proposed algorithm for robots with two and three rotational degrees of freedom, and graphically present the results in the workspace and configuration space. The possibility of transitioning from one type of solution to another by passing through a singular configuration is discussed. The results are important for planning motions in the workspace and configuration space, as well as for the design and kinematic analysis of robots. |
| first_indexed | 2024-03-09T17:25:09Z |
| format | Article |
| id | doaj.art-a0f40e539a58473c9c603f2a871eaad3 |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-09T17:25:09Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-a0f40e539a58473c9c603f2a871eaad32023-11-24T12:49:25ZengMDPI AGAlgorithms1999-48932022-12-01151246910.3390/a15120469Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration SpaceIvan Chavdarov0Bozhidar Naydenov1Faculty of Mathematics and Informatics, Department of Mechatronics, Robotics and Mechanics, University of Sofia “St. Kliment Ohridski”, 1504 Sofia, BulgariaInstitute of Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev St, Bl. 1, 1113 Sofia, BulgariaThe work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide range of robots by using a geometric approach, representing points in a polar coordinate system. Inverse kinematics, which is one of the most important, most studied and challenging problems in robotics, aims to calculate the values of the joint variables, given the desired position and orientation of the robot’s end effector. Configuration space is defined by joint angles and is the basis of most motion planning algorithms. Areas in the working and configuration space are generated that are reachable with different types of solutions. Programs are created that use the proposed algorithm for robots with two and three rotational degrees of freedom, and graphically present the results in the workspace and configuration space. The possibility of transitioning from one type of solution to another by passing through a singular configuration is discussed. The results are important for planning motions in the workspace and configuration space, as well as for the design and kinematic analysis of robots.https://www.mdpi.com/1999-4893/15/12/469inverse kinematicsrobotworkspace and configuration spacesingular configurations |
| spellingShingle | Ivan Chavdarov Bozhidar Naydenov Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space Algorithms inverse kinematics robot workspace and configuration space singular configurations |
| title | Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space |
| title_full | Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space |
| title_fullStr | Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space |
| title_full_unstemmed | Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space |
| title_short | Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space |
| title_sort | algorithm for determining the types of inverse kinematics solutions for sequential planar robots and their representation in the configuration space |
| topic | inverse kinematics robot workspace and configuration space singular configurations |
| url | https://www.mdpi.com/1999-4893/15/12/469 |
| work_keys_str_mv | AT ivanchavdarov algorithmfordeterminingthetypesofinversekinematicssolutionsforsequentialplanarrobotsandtheirrepresentationintheconfigurationspace AT bozhidarnaydenov algorithmfordeterminingthetypesofinversekinematicssolutionsforsequentialplanarrobotsandtheirrepresentationintheconfigurationspace |