A New Integrated Method to Improve the Computation of the Robotics’ Inverse Kinematics in a Simple and Unified Formula
Shranjeno v:
| izdano v: | Machines vol. 13, no. 12 (2025), p. 1073-1104 |
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| Glavni avtor: | |
| Drugi avtorji: | , , , |
| Izdano: |
MDPI AG
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| Teme: | |
| Online dostop: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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Brez oznak, prvi označite!
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| 024 | 7 | |a 10.3390/machines13121073 |2 doi | |
| 035 | |a 3286314010 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231531 |2 nlm | ||
| 100 | 1 | |a Abubaker, Ahmed |u School of Automation Engineering, Wuxi University, Wuxi 214105, China; 100026@cwxu.edu.cn | |
| 245 | 1 | |a A New Integrated Method to Improve the Computation of the Robotics’ Inverse Kinematics in a Simple and Unified Formula | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a Formulating mathematical models and deriving efficient algorithms are crucial for meeting the requirements of future robotics applications. This paper proposes a novel approach for analyzing kinematic systems and computing inverse kinematics (IK) solutions for serial robotic arms. The aim is to reduce modeling complexity and the computational cost of IK solution algorithms, while enhancing accuracy and efficiency by reformulating the kinematic equations using simplified constraints. This is achieved by integrating the rotation matrix and the unit quaternion to represent kinematic equations in a simple and unified form without compromising the degrees of freedom or raising the order of the kinematic equations, as in traditional approaches. The method combines analytical and numerical techniques to obtain an exact IK solution in two steps: first, the wrist joint variables are substituted into the position equations, resulting in a modified position vector equation obtained analytically; second, numerical iteration is applied to compensate for the error between the current and desired positions, leading to the ultimate exact inverse solution. The method is tested on a 5R robot and a 6R (UR-10) robot with an offset wrist to demonstrate the mathematical process and real-time algorithm performance. The results demonstrate that the absolute position error is less than <inline-formula>10−15</inline-formula> m, with no orientation error, and the mean calculation time for the IK solution is less than 5 ms. Furthermore, the results indicate higher accuracy and reduced computational time compared to other common IK methods. Moreover, the algorithm’s improved performance in processing continuous paths demonstrates its advantages in both simulation and practical applications. Finally, the proposed methodology is expected to advance further research in kinematic modeling and enhance polynomial-based numerical iterative algorithms. | |
| 653 | |a Robotics | ||
| 653 | |a Accuracy | ||
| 653 | |a Wrist | ||
| 653 | |a Kinematics | ||
| 653 | |a Iterative algorithms | ||
| 653 | |a Mathematical analysis | ||
| 653 | |a Kinematic equations | ||
| 653 | |a Iterative methods | ||
| 653 | |a Robot arms | ||
| 653 | |a Modelling | ||
| 653 | |a Inverse kinematics | ||
| 653 | |a Polynomials | ||
| 653 | |a Computational efficiency | ||
| 653 | |a Robots | ||
| 653 | |a Computing costs | ||
| 653 | |a Design | ||
| 653 | |a Methods | ||
| 653 | |a Algorithms | ||
| 653 | |a Real time | ||
| 653 | |a Computing time | ||
| 653 | |a Error compensation | ||
| 653 | |a Position errors | ||
| 700 | 1 | |a Ju Hehua |u College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China | |
| 700 | 1 | |a Yang, Yang |u The 28th Research Institute of China Electronics Technology Group Corporation, Nanjing 210016, China; yang_being@163.com | |
| 700 | 1 | |a Hosham, Wahballa |u College of Engineering, Karary University, Omdurman 12304, Sudan; hosham@qzuie.edu.cn | |
| 700 | 1 | |a Mustafa Ghazally I. Y. |u School of Mechanical and Electrical Engineering, Quanzhou University of Information Engineering, Quanzhou 362000, China; mustafa@qzuie.edu.cn | |
| 773 | 0 | |t Machines |g vol. 13, no. 12 (2025), p. 1073-1104 | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3286314010/abstract/embedded/7BTGNMKEMPT1V9Z2?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3286314010/fulltextwithgraphics/embedded/7BTGNMKEMPT1V9Z2?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3286314010/fulltextPDF/embedded/7BTGNMKEMPT1V9Z2?source=fedsrch |