A kinematics modeling method of linkage robot based on euler spinning method

Shitong Zhou; Qiuzhi Song; Xin Wang

doi:10.1109/ICUS.2017.8278422

A kinematics modeling method of linkage robot based on euler spinning method

Shitong Zhou, Qiuzhi Song^*, Xin Wang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.

Original language	English
Title of host publication	Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Editors	Xin Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	104-109
Number of pages	6
ISBN (Electronic)	9781538631065
DOIs	https://doi.org/10.1109/ICUS.2017.8278422
Publication status	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Unmanned Systems, ICUS 2017 - Beijing, China Duration: 27 Oct 2017 → 29 Oct 2017

Publication series

Name	Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Country/Territory	China
City	Beijing
Period	27/10/17 → 29/10/17

Keywords

DH
Euler Rotation theorem
Kinematics
Link description
Monte Carlo method

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10.1109/ICUS.2017.8278422

Cite this

Zhou, S., Song, Q., & Wang, X. (2017). A kinematics modeling method of linkage robot based on euler spinning method. In X. Xu (Ed.), Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 (pp. 104-109). (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS.2017.8278422

Zhou, Shitong ; Song, Qiuzhi ; Wang, Xin. / A kinematics modeling method of linkage robot based on euler spinning method. Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. editor / Xin Xu. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 104-109 (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017).

@inproceedings{78b16caef89f4d26a9dc56513a8880a8,

title = "A kinematics modeling method of linkage robot based on euler spinning method",

abstract = "In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.",

keywords = "DH, Euler Rotation theorem, Kinematics, Link description, Monte Carlo method",

author = "Shitong Zhou and Qiuzhi Song and Xin Wang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 ; Conference date: 27-10-2017 Through 29-10-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICUS.2017.8278422",

language = "English",

series = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "104--109",

editor = "Xin Xu",

booktitle = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",

address = "United States",

}

Zhou, S, Song, Q & Wang, X 2017, A kinematics modeling method of linkage robot based on euler spinning method. in X Xu (ed.), Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 104-109, 2017 IEEE International Conference on Unmanned Systems, ICUS 2017, Beijing, China, 27/10/17. https://doi.org/10.1109/ICUS.2017.8278422

A kinematics modeling method of linkage robot based on euler spinning method. / Zhou, Shitong; Song, Qiuzhi; Wang, Xin.
Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. ed. / Xin Xu. Institute of Electrical and Electronics Engineers Inc., 2017. p. 104-109 (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A kinematics modeling method of linkage robot based on euler spinning method

AU - Zhou, Shitong

AU - Song, Qiuzhi

AU - Wang, Xin

PY - 2017/7/2

Y1 - 2017/7/2

N2 - In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.

AB - In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.

KW - DH

KW - Euler Rotation theorem

KW - Kinematics

KW - Link description

KW - Monte Carlo method

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U2 - 10.1109/ICUS.2017.8278422

DO - 10.1109/ICUS.2017.8278422

M3 - Conference contribution

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T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017

SP - 104

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BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017

A2 - Xu, Xin

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Zhou S, Song Q, Wang X. A kinematics modeling method of linkage robot based on euler spinning method. In Xu X, editor, Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 104-109. (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017). doi: 10.1109/ICUS.2017.8278422

A kinematics modeling method of linkage robot based on euler spinning method

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