Forward and Inverse Kinematics of 4-DoF SCARA: Using Optimization Algorithms

Subject Areas : Electrical Engineering

Mahdi Zavar ¹ , Niki Manouchehri ² , Alireza Safa ³

1 - Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran
2 - Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran
3 - Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran

Received: 2023-08-03 Accepted : 2024-01-20 Published : 2023-12-01

Keywords: Optimization Algorithms, Inverse Kinematics, SCARA, Forward kinematics, Robot arms,

Abstract :

In this article, solving and optimizing the problem of forward and inverse kinematics of SCARA is studied. This robot belongs to series robots and it has four degrees of freedom. First, we specify the coordinate axes for each joint and use it to extract the Danavit-Hartenberg parameters. Next, we examineforward kinematics of the robot and obtain the rotation matrices and the homogeneous transformation matrix and calculate the forward kinematics of the robot. Next, the method of solving the inverse kinematics problem of the robot is studied using different algorithms, including Cultural Algorithm, Genetic-Hybrid Algorithm, Gray Wolf Optimization, Firefly Algorithm, Ant Colony Optimization and Particle Swarm Optimization.Them, we optimize the inverse kinematics of the robot using these algorithms in two ways: fixed point and circular path. In the end, the effectiveness of the proposed approaches for solving the inverse kinematics problem of the SCARA robot is evaluated with multiple simulations.

References:

[1] Roshanianfard A., Mengmeng D. and Nematzadeh S., “A 4-dof scara robotic arm for various farm applications: Designing, kinematic modelling, and parameterization.”ActaTechnologicaAgriculturae, Vol. 24. No. 2, pp. 61–66, 2021.

[2]Liu Y., Wan M., Xing W.J., Xiao Q.B. and Zhang W.H., “Generalized actual inverse kinematic model for compensating geometric errors in five-axis machine tools.” International Journal of Mechanical Sciences, Vol. 145, pp. 299–317, 2018.

[3]My C.A. and Bohez E.J., “A novel differential kinematics model to compare the kinematic performances of 5-axis cnc machines.” International Journal of Mechanical Sciences, Vol. 163, pp. 105117, 2019.

[4] Xiao W., Liu C., Hu D., Yang G. and Han X., “Soft robotic surface enhances the grasping adaptability and reliability of pneumatic grippers.”International Journal of Mechanical Sciences, Vol. 219, pp. 107094, 2022.

[5] Mu˜noz J., L´opez B., Quevedo F., Barber R., Garrido S. and Moreno L., “Geometrically constrained path planning for robotic grasping with differential evolution and fast marching square.”Robotica, Vol. 41, No. 2, pp. 414–432, 2023.

[6] Yang Ch., Geng Sh., Walker I., Branson D.T, Liu J., Dai J.S. and Kang R., “Geometric constraint-based modeling and analysis of a novel continuum robot with shape memory alloy initiated variable stiffness.”The International Journal of Robotics Research, Vol. 39, No. 14, pp. 1620–1634, 2020.

[7] Wei Ch., Taghavifar H. and Mardani A., “Appraisal of numerical based finite element method to synthesise the wheel-obstacle collision dynamics using a single-wheel tester.”International Journal of Heavy Vehicle Systems, Vol. 26, No. 3-4, pp. 578–598, 2019.

[8] Fang G., Tian Y., Yang Z.X., Geraedts J.M. and Wang C.C., “Efficient jacobianbased inverse kinematics with sim-to-real transfer of soft robots by learning.”IEEE/ASME Transactions on Mechatronics, Vol. 27, No. 6, pp. 5296–5306, 2022.

[9] Hendriko H., Nurkhamdi J.J. and Imam M.M., “Analytical based inverse kinematics method for 5-axis delta robot.”International Journal of Materials, Mechanics and Manufacturing, Vol. 6, No. 4, 2018.

[10] Chawla I., Pathak P., Notash L., Samantaray A., Li Q. and Sharma U.,“Inverse and forward kineto-static solution of a large-scale cabledriven parallel robot using neural networks.”Mechanism and Machine Theory, Vol. 179, pp. 105107, 2023.

[11] Alsamhi S.H., Ma O. and Ansari M.S., “Survey on artificial intelligence based techniques for emerging robotic communication.”Telecommunication Systems, Vol. 72, pp. 483–503, 2019.

[12] Ghith E.S. and Tolba F.A.A., “Labview implementation of tuning pid controller using advanced control optimization techniques for microrobotics system.”International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 9, 2022.

[13] Wang Ch., TeoTh.S. and Janssen M., “Public and private value creation using artificial intelligence: An empirical study of ai voice robot users in chinese public sector.”International Journal of Information Management, Vol. 61, pp. 102401, 2021.

[14] Bai G., Liu L., Meng Y., Luo W., Gu Q. and Wang J., “Path tracking of wheeled mobile robots based on dynamic prediction model.”IEEE Access, Vol. 7, pp. 39690–39701, 2019.

[15] Torres-Figueroa J., Portilla-Flores E.A., V´asquez-Santacruz J.A., Vega-Alvarado E. and Mar´ın-Ur´ıas L.F., “A novel general inverse kinematics optimization-based solution for legged robots in dynamic walking by a heuristic approach.”IEEE Access, Vol. 11, pp. 2886–2906, 2023.

[16] Ghasemi A., Li P. and Xie W.F., “Adaptive switch image-based visual servoing for industrial robots.”International Journal of Control, Automation and Systems, Vol. 18, pp. 1324–1334, 2020.

[17] Susanto C., Limanuel F. and Rippun F., “Design and implementation of pose recording system with denavithartenberg method in a 6-dof robot rotaric.”WidyaTeknik, Vol. 22, No. 1, pp. 1–8, 2023.

[18] Bahani A., Ech-Chhibat M.E., Samri H. and Elattar H.A., “The inverse kinematics evaluation of 6-dof robots in cooperative tasks using virtual modeling design and artificial intelligence tools.”International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 2, 2023.

[19] Khanesar M.A., Yan M., Isa M., Piano S. and Branson D.T., “Precision denavit–hartenberg parameter calibration for industrial robots using a laser tracker system and intelligent optimization approaches.”Sensors, Vol. 23, No. 12, pp. 5368, 2023.

[20] Xu X., Bai Y., Zhao M., Yang J., Pang F., Ran Y., Tan Zh. and Luo M., “A novel calibration method for robot kinematic parameters based on improved manta ray foraging optimization algorithm.”IEEE Transactions on Instrumentation and Measurement, Vol. 72, pp. 1–11, 2023.

[21] Zhen Sh.Ch., Ma M.C., Liu X.L., Chen F., Zhao H. and Chen Y.H., “Model-based robust control design and experimental validation of scara robot system with uncertainty.”Journal of Vibration and Control, Vol. 29, No.1-2, pp. 91–104, 2023.

[22] Jeddi M., Khoogar A. and MehdipoorOmrani A., “Eye in-hand stereo image based visual servoing for robotic assembly and set-point calibration used on 4 dofscara robot.”International Journal of Robotics, Theory and Applications, Vol. 8, No. 1, pp. 33–44, 2022.

[23] Rigatos G., Abbaszadeh M., Busawon K. and Pomares J., “Nonlinear optimal control for a 4-dof scara robotic manipulator.”Robotica, pp. 1–54, 2023.

[24] Zhong G., Peng B. and Dou W., “Kinematics analysis and trajectory planning of a continuum manipulator.”International Journal of Mechanical Sciences, Vol. 222, pp.107206, 2022.

[25] Xie Sh., Sun L., Wang Zh. and Chen G., “A speedup method for solving the inverse kinematics problem of robotic manipulators.”International Journal of Advanced Robotic Systems, Vol. 19, No. 3, pp. 17298806221104602, 2022.

[26] Ali H.I., Hasan A.F. and Jassim H.M., “Optimal h2pid controller design for human swing leg system using cultural algorithm.”Journal of Engineering Science and Technology, Vol. 15, No. 4, pp. 2270–2288, 2020.

[27] Shrivastava A. and Dalla V.K., “Jerk optimized motion planning of redundant space robot based on grey-wolf optimization approach.”Arabian Journal for Science and Engineering, Vol. 48, No. 3, pp. 2687– 2699, 2023.

[28] Al-Tashi Q., Rais H.M,  Abdulkadir S.J, Mirjalili S.A. and Alhussian H., “A review of grey wolf optimizer-based feature selection methods for classification.”Evolutionary Machine Learning Techniques: Algorithms and Applications, pp. 273– 286, 2020.

[29] Sai H., XuZh., Xu C., Wang X., Wang K. and Zhu L., “Adaptive local approximation neural network control based on extraordinariness particle swarm optimization for robotic manipulators.”Journal of Mechanical Science and Technology, Vol. 36, No. 3, pp. 1469–1483, 2022.

[30] Wang W., Tian G., Zhang H., Li Zh. and Zhang L., “A hybrid genetic algorithm with multiple decoding methods for energy-aware remanufacturing system scheduling problem.”Robotics and Computer-Integrated Manufacturing, Vol. 81, pp. 102509, 2023.

[31] Kundra H., Khan W., Malik M., Rane K.P, Neware R. and Jain V., “Quantum-inspired firefly algorithm integrated with cuckoo search for optimal path planning.”International Journal of Modern Physics C, Vol. 33, No. 02, pp. 2250018, 2022.

[32] Zhang T., Cheng Y., Wu H., Song Y., Yan Sh., Handroos H., Zheng L., Ji H. and Pan H., “Dynamic accuracy ant colony optimization of inverse kinematic (daacoik) analysis of multi-purpose deployer (mpd) for cfetr remote handling.”Fusion Engineering and Design, Vol. 156, pp. 111522, 2020.