Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control

Khairul Annuar Abdullah, Suziyanti Marjudi, Zuriati Yusof, Riza Sulaiman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic manipulator arm has to endure certain challenges of actual applications that regularly affect its motion behavior incorporating end-effector positional accuracy and repeatability, degree-of-freedom constraint, redundant movement, heavy payload uplifting, long reach stretching, and other complications. This study works on finding inverse kinematic (IK) solutions to facilitate the robotic arm motion control with algebraic-trigonometric nonlinear analytical models. The nonlinear analytical models acquired from the extensive manipulation of trigonometric rules, specifically sum-and-difference and Pythagorean identities and algebraic arithmetic in pursuit of determining the reachable actuating joint configurations are experimented for applicability on the fundamental structure of two-segmented manipulator arm. For verification, the precision of the IK solutions yielded by the models are cross-referenced with the manipulator’s direct kinematics and tested with the statistical performance measure of minimum squared error while tracking cubic Hermite spline, cubic Bezier, and cubic B-spline curves. For validation, an interactive spreadsheet-based IK application utilizing built-in front-end capabilities including Visual Basic for Applications, Math and Trig Function Library, Name Manager, Data Validation, ActiveX Controls, and Charts is developed to accommodate these models and simulate the feasible joint angles and orientations of robot arm. The application visualizes (1) the robotic linkage motion on xz plane according to the links lengths, end-effector position, and base position specified and (2) the robotic curves trajectory tracking of cubic Hermite spline, cubic Bezier, and cubic B-spline. The algebraic-trigonometric nonlinear analytical models proposed provide alternative practical IK solutions for the two-segmented robotic manipulator arm.

Original languageEnglish
Title of host publicationAdvances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings
EditorsHalimah Badioze Zaman, Nazlena Mohamad Ali, Mohammad Nazir Ahmad, Alan F. Smeaton, Timothy K. Shih, Sergio Velastin, Tada Terutoshi
PublisherSpringer
Pages291-304
Number of pages14
ISBN (Print)9783030340315
DOIs
Publication statusPublished - 1 Jan 2019
Event6th International Conference on Advances in Visual Informatics, IVIC 2019 - Bangi, Malaysia
Duration: 19 Nov 201921 Nov 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11870 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference6th International Conference on Advances in Visual Informatics, IVIC 2019
CountryMalaysia
CityBangi
Period19/11/1921/11/19

Fingerprint

Robotic Manipulator
Inverse Kinematics
Inverse kinematics
Motion Control
Motion control
Splines
Manipulators
Modeling and Simulation
Robotics
Analytical Model
Nonlinear Model
Cubic B-spline
Analytical models
Bézier
Cubic Spline
End effectors
Manipulator
Hermite
Pythagorean identity
Cubic curve

Keywords

  • Analytical model
  • Cubic B-spline
  • Cubic Bezier
  • Cubic Hermite spline
  • Geometric motion control
  • Inverse kinematics
  • Robotic manipulator arm
  • Trajectory tracking
  • Trigonometric rule

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Abdullah, K. A., Marjudi, S., Yusof, Z., & Sulaiman, R. (2019). Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control. In H. Badioze Zaman, N. Mohamad Ali, M. N. Ahmad, A. F. Smeaton, T. K. Shih, S. Velastin, & T. Terutoshi (Eds.), Advances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings (pp. 291-304). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11870 LNCS). Springer. https://doi.org/10.1007/978-3-030-34032-2_27

Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control. / Abdullah, Khairul Annuar; Marjudi, Suziyanti; Yusof, Zuriati; Sulaiman, Riza.

Advances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings. ed. / Halimah Badioze Zaman; Nazlena Mohamad Ali; Mohammad Nazir Ahmad; Alan F. Smeaton; Timothy K. Shih; Sergio Velastin; Tada Terutoshi. Springer, 2019. p. 291-304 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11870 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abdullah, KA, Marjudi, S, Yusof, Z & Sulaiman, R 2019, Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control. in H Badioze Zaman, N Mohamad Ali, MN Ahmad, AF Smeaton, TK Shih, S Velastin & T Terutoshi (eds), Advances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11870 LNCS, Springer, pp. 291-304, 6th International Conference on Advances in Visual Informatics, IVIC 2019, Bangi, Malaysia, 19/11/19. https://doi.org/10.1007/978-3-030-34032-2_27
Abdullah KA, Marjudi S, Yusof Z, Sulaiman R. Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control. In Badioze Zaman H, Mohamad Ali N, Ahmad MN, Smeaton AF, Shih TK, Velastin S, Terutoshi T, editors, Advances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings. Springer. 2019. p. 291-304. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-34032-2_27
Abdullah, Khairul Annuar ; Marjudi, Suziyanti ; Yusof, Zuriati ; Sulaiman, Riza. / Algebraic-trigonometric nonlinear analytical inverse kinematic modeling and simulation for robotic manipulator arm motion control. Advances in Visual Informatics - 6th International Visual Informatics Conference, IVIC 2019, Proceedings. editor / Halimah Badioze Zaman ; Nazlena Mohamad Ali ; Mohammad Nazir Ahmad ; Alan F. Smeaton ; Timothy K. Shih ; Sergio Velastin ; Tada Terutoshi. Springer, 2019. pp. 291-304 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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