Multimodal Control of Manipulators: Coupling Kinematics and Vision for Self-Driving Laboratory Operations
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic solver to determine trajectories and joints solutions respectively. In this paper, 3 motion planning schemes developed based on Jacobian methods are implemented to traverse a redundant manipulator with a coupled finger gripper through given trajectories. RRT* algorithm is used for planning trajectories and screw theory based forward kinematic equations are solved for determining joint solutions of the manipulator and gripper. Inverse solutions are computed separately using 3 Jacobian based methods such as Jacobian Transpose (JT), Pseudo Inverse (PI), and Damped Least Square (DLS) methods. Space Jacobian and manipulability measurements of the manipulator and gripper are obtained using screw theory formulations. Smoothness and RMSE error of generated trajectories and velocity continuity, acceleration profile, jerk, and snap values of joint motions are analysed for determining an efficient motion planning method for a given task. Advantages and disadvantages of the proposed motion planning schemes mentioned above are analysed using simulation studies to determine a suitable inverse solution technique for the tasks.
Code (0)
등록된 구현이 없습니다.
Tasks
Trajectory PlanningMotion PlanningSimilar Papers 제목 키워드 기반
Kinematics Transformer: Solving The Inverse Modeling Problem of Soft Robots using Transformers
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, …
Applying PBL in the Development and Modeling of kinematics for Robotic Manipulators with Interdisciplinarity between Computer-Assisted Project, Robotics, and Microcontrollers
Considering the difficulty of students in calculating the direct and inverse kinematics of a robotic manipulator using only conventional tools of a classroom, this article proposes the application of Project Based Learni…
Unified Force and Motion Adaptive-Integral Control of Flexible Robot Manipulators
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then availa…
PositionLearning Structured Robot Policies from Vision-Language Models via Synthetic Neuro-Symbolic Supervision
Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaq…
Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gröbner Systems
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three conse…