Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of...

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Autores principales:	Lijun Qiao, Xiao Luo, Qingsheng Luo, Minghao Li, Jianfeng Jiang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	mobile manipulator robot kinematic modeling self-collision detection actual physical structure Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/9878dc3369db440cbb0fadcfe8460815
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spelling	oai:doaj.org-article:9878dc3369db440cbb0fadcfe84608152021-11-25T16:32:24ZOptimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure10.3390/app1122105912076-3417https://doaj.org/article/9878dc3369db440cbb0fadcfe84608152021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10591https://doaj.org/toc/2076-3417In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.Lijun QiaoXiao LuoQingsheng LuoMinghao LiJianfeng JiangMDPI AGarticlemobile manipulator robotkinematic modelingself-collision detectionactual physical structureTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10591, p 10591 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	mobile manipulator robot kinematic modeling self-collision detection actual physical structure Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	mobile manipulator robot kinematic modeling self-collision detection actual physical structure Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Lijun Qiao Xiao Luo Qingsheng Luo Minghao Li Jianfeng Jiang Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
description	In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.
format	article
author	Lijun Qiao Xiao Luo Qingsheng Luo Minghao Li Jianfeng Jiang
author_facet	Lijun Qiao Xiao Luo Qingsheng Luo Minghao Li Jianfeng Jiang
author_sort	Lijun Qiao
title	Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
title_short	Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
title_full	Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
title_fullStr	Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
title_full_unstemmed	Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure
title_sort	optimizing kinematic modeling and self-collision detection of a mobile manipulator robot by considering the actual physical structure
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/9878dc3369db440cbb0fadcfe8460815
work_keys_str_mv	AT lijunqiao optimizingkinematicmodelingandselfcollisiondetectionofamobilemanipulatorrobotbyconsideringtheactualphysicalstructure AT xiaoluo optimizingkinematicmodelingandselfcollisiondetectionofamobilemanipulatorrobotbyconsideringtheactualphysicalstructure AT qingshengluo optimizingkinematicmodelingandselfcollisiondetectionofamobilemanipulatorrobotbyconsideringtheactualphysicalstructure AT minghaoli optimizingkinematicmodelingandselfcollisiondetectionofamobilemanipulatorrobotbyconsideringtheactualphysicalstructure AT jianfengjiang optimizingkinematicmodelingandselfcollisiondetectionofamobilemanipulatorrobotbyconsideringtheactualphysicalstructure
_version_	1718413152555630592

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

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