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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗
NASA NTRS1990

Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system

An algorithm is proposed for automatically generating both the forward and inverse kinematics of a serial-link N-degree-of-freedom reconfigurable manipulator (RM). Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. This geometric information is used to obtain the Denavit-Hartenberg (DH) parameters of an RM. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The problem of obtaining the inverse kinematics of RMs is addressed, and the idea of scaling an RM to automate the inverse kinematics and make the procedure as general as possible is proposed.

Kelmar, Laura↗
DOE OSTI2026

IK-Frag: Frag data generator for the PHITS simulation with the inverse kinematic reaction producing a focused neutron beam

IK-Frag has been developed for the creation of the nuclear cross-section data format, which is named frag data and can be used in PHITS, a Monte Carlo simulation code. IK-Frag focuses on the inverse kinematic reactions between a lithium or beryllium ion and a proton target. These reactions achieve naturally collimated neutrons and potentially reduce the necessity of radiation shielding. IK-Frag enables PHITS users to conduct simulations for the inverse kinematic reactions. The present software aims to contribute to future development of the neutron source system using the inverse kinematic reactions.

43 PARTICLE ACCELERATORS↗
NASA NTRS1989

Real-time neuromorphic algorithms for inverse kinematics of redundant manipulators

The paper presents an efficient neuromorphic formulation to accurately solve the inverse kinematics problem for redundant manipulators. The approach involves a dynamical learning procedure based on a novel formalism in neural network theory: the concept of 'terminal' attractors. Topographically mapped terminal attractors are used to define a neural network whose synaptic elements can rapidly encapture the inverse kinematics transformations, and, subsequently generalize to compute joint-space coordinates required to achieve arbitrary end-effector configurations. Unlike prior neuromorphic implementations, this technique can also systematically exploit redundancy to optimize kinematic criteria, e.g., torque optimization. Simulations on 3-DOF and 7-DOF redundant manipulators, are used to validate the theoretical framework and illustrate its computational efficacy.

Barhen, Jacob↗
NASA NTRS2004

Direct and Inverse Kinematics of a Novel Tip-Tilt-Piston Parallel Manipulator

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Tahmasebi, Farhad↗
NASA NTRS1986

Inverse kinematic solution for near-simple robots and its application to robot calibration

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Hayati, Samad A.↗
NASA NTRS1992

Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Choi, Benjamin B.↗
DOE OSTI2026

Performance assessment of PHITS simulations for the inverse-kinematic p( 7 Li,n) 7 Be reaction based on fast-neutron measurements with a diamond detector

The inverse-kinematics p( 7 Li,n) 7 Be reaction produces forward-focused neutron emission, offering enhanced usable flux and reduced shielding requirements. Reliable simulation of such neutron fields is essential for the development of compact accelerator-based neutron sources. In this study, a PHITS-based simulation framework for the reaction was experimentally assessed using fast-neutron measurements. Forward-directed neutrons were measured with a diamond neutron detector and quantitatively compared with simulations with newly prepared IK-Frag cross-section file based on the proton-induced reaction data in ENDF/B-VIII.1, TENDL-2023, and JENDL-4.0/HE. Measurements and simulations were performed for incident 7 Li 3+ energies ranging from 15.0 to 25.0 MeV using a 50 μm-thick polypropylene target. For all conditions, the PHITS-based simulation framework reproduced the deposited energy spectra at the correct order of magnitude. The comparison of deposited energy spectra in the diamond detector showed high correlation coefficients across all investigated energies, indicating reasonable agreement in spectral shape between simulations and measurements. This work represents an initial step toward establishing a benchmark for PHITS simulations of the inverse kinematic reaction between an incident lithium-ion and a proton target.

43 PARTICLE ACCELERATORS↗
NASA NTRSDate not supplied

Efficient and Singularity-Aware Inverse Kinematics for 6-DOF and 7-DOF Revolute Manipulators

Inverse kinematics (IK) for 6-DOF and 7-DOF revolute robot manipulators may be decomposed into canonical subproblems which find the angles on circles where they intersect with other geometric objects. We present new algebraic solutions and geometric interpretations for six subproblems. We demonstrate significant performance improvements over existing IK methods. 7-DOF manipulators have one redundant DOF to parameterize, so we introduce the general SEW angle, which generalizes the conventional SEW angle but with an arbitrary reference direction function. One special choice, the stereographic SEW angle, has a singularity when the wrist is on a half-line instead of a full line.

Computational Geometry↗
DOE OSTI2025

Determination of proton and neutron contributions to the 0$^+_{𝑔⁡𝑠}$ → 2$^+_{1}$ excitations in 42 Si and 44 S using inelastic proton scattering in inverse kinematics and intermediate-energy Coulomb excitation

Here, we have measured the 0$^+_{𝑔⁡𝑠}$ → 2$^+_1$ transition in the neutron-rich 𝑁 = 28 isotope 42 Si using the probes of intermediate-energy Coulomb excitation and inelastic proton scattering in inverse kinematics at the Facility for Rare Isotope Beams with beam particle rates of ≈ 5 particles/s. The results of these two measurements allowed us to determine 𝑀 𝑛 /𝑀 𝑝 , the ratio of the neutron and proton transition matrix elements for the 0$^+_{𝑔⁡𝑠}$ → 2$^+_1$ transition. In addition, we have measured the 0$^+_{𝑔⁡𝑠}$ → 2$^+_1$ transition in the isotone 44 S using inverse kinematics inelastic proton scattering. By comparing the 44 S proton-scattering result with a recent intermediate-energy Coulomb excitation result on the same transition, we were able to determine 𝑀 𝑛 /𝑀 𝑝 for the 0$^+_{𝑔⁡𝑠}$ → 2$^+_1$ transition in this nucleus as well. This work strengthens the evidence that 42 Si has a stable quadrupole deformation in its ground state and that 44 S does not. Both conclusions are further supported by shell-model calculations carried out with the FSU interaction.

39 ≤ A ≤ 58↗
NASA NTRS1989

Computational neural learning formalisms for manipulator inverse kinematics

An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.

Gulati, Sandeep↗
NASA NTRS1989

An inverse kinematics algorithm for a highly redundant variable-geometry-truss manipulator

A new class of robotic arm consists of a periodic sequence of truss substructures, each of which has several variable-length members. Such variable-geometry-truss manipulator (VGTMs) are inherently highly redundant and promise a significant increase in dexterity over conventional anthropomorphic manipulators. This dexterity may be exploited for both obstacle avoidance and controlled deployment in complex workspaces. The inverse kinematics problem for such unorthodox manipulators, however, becomes complex because of the large number of degrees of freedom, and conventional solutions to the inverse kinematics problem become inefficient because of the high degree of redundancy. A solution is presented to this problem based on a spline-like reference curve for the manipulator's shape. Such an approach has a number of advantages: (1) direct, intuitive manipulation of shape; (2) reduced calculation time; and (3) direct control over the effective degree of redundancy of the manipulator. Furthermore, although the algorithm was developed primarily for variable-geometry-truss manipulators, it is general enough for application to a number of manipulator designs.

Naccarato, Frank↗
NASA NTRS1990

An adaptive inverse kinematics algorithm for robot manipulators

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Colbaugh, R.↗
DOE OSTI2025

Prediction of neutron production and energy spectrum by the inverse kinematic reaction between an incident 7 Li 3+ beam and a proton target in PHITS

A neutron source using the inverse kinematic reaction between lithium and proton, p( 7 Li, n) 7 Be, achieves forward-directed neutrons, potentially enhancing neutron yield in the forward direction. Despite the advantage, no evaluated-cross-section data for this reaction can be used in Monte Carlo simulation codes, such as PHITS. To solve this problem, this study aims to evaluate the applicability of the user-defined cross-section data, Frag data, for p ( 7 Li, n) 7 Be in PHITS. The simulations reproduced collisions between 7 Li 3+ ions and polypropylene targets. The Frag data was edited based on the JENDL-5 by utilizing the two-body collision kinematics. The neutron yield and angular distribution were investigated in the simulation. As a result, the forward neutron convergence with a reasonable neutron yield and energy spectrum was observed. The expected neutron yield in the forward 1-steradian area is 2.46 × 10 10 n/s when lithium-ion energy and current are 16.45 MeV and 0.1 mA.

43 PARTICLE ACCELERATORS↗
NASA NTRS1994

Robust inverse kinematics using damped least squares with dynamic weighting

This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

Schinstock, D. E.↗
DOE OSTI2026

Signal-to-background estimates for the inverse-kinematics 78 Kr(n,γ) experiment at LANSCE

The idea of a neutron target enables the measurement of neutron-induced reactions in inverse kinematics. This idea is part of the LANSCE strategy to stay a worldwide leader for neutron-induced research. The proof-of-principle experiment outlined in is the core of the LDRD project 20240004DR. The current approach is to use an ion source capable of accelerating single-charged ions up to about 60 keV. A beam of 78 Kr + ions will be created to interact with a neutron target and implanted. During the passage of the target, neutrons can be captured and the freshly produced 79 Kr + ions will be implanted along with the main beam.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRS1987

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Rodriguez, G.↗