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by Keyword: Kinematic


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Rokbani, Nizar, Casals, Alicia, Alimi, AdelM, (2015). IK-FA, a New Heuristic Inverse Kinematics Solver Using Firefly Algorithm Computational Intelligence Applications in Modeling and Control (ed. Azar, Ahmad Taher, Vaidyanathan, Sundarapandian), Springer International Publishing (Lausanne, Switzerland) 575, 369-395

In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of joint-positions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joints elementary motions. For a robotic system with a known forward kinematic model, IK-Fireflies, is used to generate iteratively a set of joint motions, then the forward kinematic model of the system is used to compute the relative Cartesian positions of a specific end-segment, and to compare it to the needed target position. This is a heuristic approach for solving inverse kinematics without computing the inverse model. IK-FA tends to minimize the distance to a target position, the fitness function could be established as the distance between the obtained forward positions and the desired one, it is subject to minimization. In this paper IK-FA is tested over a 3 links articulated planar system, the evaluation is based on statistical analysis of the convergence and the solution quality for 100 tests. The impact of key FA parameters is also investigated with a focus on the impact of the number of fireflies, the impact of the maximum iteration number and also the impact of (α, β, γ, δ) parameters. For a given set of valuable parameters, the heuristic converges to a static fitness value within a fix maximum number of iterations. IK-FA has a fair convergence time, for the tested configuration, the average was about 2.3394 × 10−3 seconds with a position error fitness around 3.116 × 10−8 for 100 tests. The algorithm showed also evidence of robustness over the target position, since for all conducted tests with a random target position IK-FA achieved a solution with a position error lower or equal to 5.4722 × 10−9.

Keywords: Robotics, Inverse kinematics, Heuristics, Computational kinematics, Swarm intelligence


Vaca, R., Aranda, J., (2014). Triangular-fan-based algorithm for computing the closure conditions of planar linkages Advanced Numerical Methods IV 11th World Congress on Computational Mechanics (WCCM XI) 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI) , CIMNE (Barcelona, Spain) , 1-2

The position analysis of a planar mechanism is based on obtaining the roots of its characteristic polynomial. In general, this polynomial is the result of a system of kinematic equations which they are derived from closure condition of the mechanism, widely known as independent kinematic loop equations or loop closure equations . This way of solving the position analysis of kinematic chains introduces complex variable eliminations, and in general trigonometric substitutions. Recently, the use of methods based on bilateration to solve the position analysis, has been shown to avoid these variable eliminations and trigonometric substitutions in planar mechanism. In this work it is shown how this method based on bilateration can be use to automatically generate closure conditions of a planar mechanism.

Keywords: Position analysis, Bilateration, Rigidity, Isomorphism, Kinematic


Hernandez Bennetts, V. M., Lilienthal, A. J., Khaliq, A. A., Pomareda Sese, V., Trincavelli, M., (2013). Towards real-world gas distribution mapping and leak localization using a mobile robot with 3d and remote gas sensing capabilities 2013 IEEE International Conference on Robotics and Automation (ICRA) (ed. Parker, Lynne E.), IEEE (Karlsruhe, Germany) , 2335-2340

Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.

Keywords: Laser beams, Measurement by laser beam, Mobile robots, Robot kinematics, Robot sensing systems