Robotic Arm Inverse Kinematics With Analytical Seed Solving
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Solution Overview
Problem
Existing inverse kinematic solving methods for robotic arms are slow due to the use of calibrated parameters with as-manufactured length values, which are orders of magnitude slower than analytical solvers, necessitating a method to reduce calculation time while maintaining accuracy.
Innovation Solution
A hybrid approach using an analytical solver based on design values to generate a seed value for a numerical solver, incorporating as-manufactured values to expedite the determination of joint parameters for a robotic arm's tool center point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If numerical solver with as-manufactured values is used for inverse kinematics, then manufacturing accuracy is improved, but calculation time increases significantly
Solution Approach 1:
An analytical solver is used to pre-calculate a seed solution based on ideal design values before the numerical solver is executed. This preliminary action provides a starting point that is already close to the final solution, significantly reducing the number of iterations required by the numerical solver and thus reducing overall calculation time while maintaining accuracy with as-manufactured values
Solution Approach 2:
The analytical solver acts as an intermediary between the ideal design model and the real as-manufactured model. It generates an initial solution that bridges the gap between theoretical design values and actual manufactured values, allowing the numerical solver to converge faster when refining the solution with real manufacturing tolerances
2Productivity
If analytical solver with design values is used, then calculation speed is improved, but manufacturing accuracy deteriorates
Solution Approach 1:
The inverse kinematics solution process is segmented into two distinct phases: first, an analytical solver quickly computes a seed solution using ideal design values; second, a numerical solver refines this solution using actual as-manufactured values. This segmentation allows each solver to perform its strength - speed for the analytical phase and accuracy for the numerical phase - while the transition between phases is seamless
Data Source
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AI summary
Methods of reducing calculation time for inverse kinematics for a robotic arm are presented. An analytical solver is used based on design values for a robot type to generate an analytical solution of joint parameters to achieve a desired location of a tool center point of the robot type, wherein the robotic arm has the robot type. The analytical solution of joint parameters is provided as a seed value to a numerical solver for the robotic arm of the robot type. A numerical solution is determined using the numerical solver and the seed value, the numerical solution comprising joint parameters for the robotic arm to achieve the desired location of a tool center point of the robotic arm.