Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators
Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2011-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/performance_analysis_of_numerical_integration_methods_in_the_trajectory_tracking_application_of_redu |
| _version_ | 1811244906436362240 |
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| author | Emre Sariyildiz Hakan Temeltas |
| author_facet | Emre Sariyildiz Hakan Temeltas |
| author_sort | Emre Sariyildiz |
| collection | DOAJ |
| description | Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Therefore, the performance of the trajectory tracking application of the robot manipulator is directly affected by the chosen numerical integration method. This paper compares the performances of numerical integration methods in the trajectory tracking application of redundant robot manipulators. Several widely used numerical integration methods are implemented into the trajectory tracking application of the 7‐DOF redundant robot manipulator named PA‐10 and simulation results are given. |
| first_indexed | 2024-04-12T14:33:43Z |
| format | Article |
| id | doaj.art-d272ae5cf8fc4cf1a50f7c218b0843ee |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-04-12T14:33:43Z |
| publishDate | 2011-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-d272ae5cf8fc4cf1a50f7c218b0843ee2022-12-22T03:29:12ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142011-11-0185Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot ManipulatorsEmre SariyildizHakan TemeltasDifferential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Therefore, the performance of the trajectory tracking application of the robot manipulator is directly affected by the chosen numerical integration method. This paper compares the performances of numerical integration methods in the trajectory tracking application of redundant robot manipulators. Several widely used numerical integration methods are implemented into the trajectory tracking application of the 7‐DOF redundant robot manipulator named PA‐10 and simulation results are given.http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/performance_analysis_of_numerical_integration_methods_in_the_trajectory_tracking_application_of_redu Differential KinematicsJacobianNumerical IntegrationRedundant Robot ManipulatorsTrajectory Tracking |
| spellingShingle | Emre Sariyildiz Hakan Temeltas Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators International Journal of Advanced Robotic Systems Differential Kinematics Jacobian Numerical Integration Redundant Robot Manipulators Trajectory Tracking |
| title | Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators |
| title_full | Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators |
| title_fullStr | Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators |
| title_full_unstemmed | Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators |
| title_short | Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators |
| title_sort | performance analysis of numerical integration methods in the trajectory tracking application of redundant robot manipulators |
| topic | Differential Kinematics Jacobian Numerical Integration Redundant Robot Manipulators Trajectory Tracking |
| url | http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/performance_analysis_of_numerical_integration_methods_in_the_trajectory_tracking_application_of_redu |
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