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A rt T ree KS a kinematic synthesis solver for tree topologies.

A rt T ree KS a kinematic synthesis solver for tree topologies. Presented by ali tamimi. Outline. ARCHITECTURE INSTALLATION INPUT FORWARD KINEMATHIC SOLVABILITY. Architecture. Input File: Contains the tree topology and the task positions, velocities and accelerations.

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A rt T ree KS a kinematic synthesis solver for tree topologies.

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  1. ArtTreeKSa kinematic synthesis solver for tree topologies. Presented by alitamimi

  2. Outline • ARCHITECTURE • INSTALLATION • INPUT • FORWARD KINEMATHIC • SOLVABILITY

  3. Architecture • Input File: Contains the tree topology and the task positions, velocities and accelerations. • Solvability Library: Functions to calculate tree solvability. • Solvability output: Results of solvability calculations. • Generator File: Functions to check solvability, assemble forward kinematics equations and assign initial values. • Synthesis File: output file with design equations. • Synthesis Library: Library of functions to communicate solver and Synthesis file. • Solvers: Genetic algorithm and Minpack C++ code to generate candidate solutions and perform minimization. • Synthesis output: output file containing the result of the synthesis.

  4. Solvability Library Solvability Output Architecture Input File Generator File Synthesis File Synthesis Output Solvers Synthesis Library

  5. Installation Dependency • libdq :library for using and manipulating unit dual quaternions • cminpack:C++ library for solving nonlinear equations and nonlinear least squares problems . • Ptheread:definesan API for creating and manipulating threads. • Lua: a powerful, fast, lightweight, embeddable scripting language. • SDL(Simple Direct Media Layer): a library designed to provide a low level hardware abstraction layer to computer hardware components. • libpng: a platform-independent library that contains Cfunctions for handling PNG images. • Gl: Graphics Library • Glu: The OpenGL Utility Library (GLU) is a computer graphics library for OpenGL. • Nlopt: a free/open-source library for nonlinear optimization. • Minpack: library for solving nonlinear equations and nonlinear least squares problems .

  6. Input (Type) • Previous Version • Example: 2-(2,1-(3,3,3),2) • New Version: • ppt=(0,1,1,1,3,3,3) • Joints=(2,2,1,2,3,3,3)

  7. Input • Forward Kinematics • Topology of Tree • Position, Velocity, Acceleration of End Effectors • Solvability • Topology of Tree

  8. Forward Kinematics • Make Synthesis File Chain (access) TCP (Contact Point) Splitter • Send to Synthesis.C • Use Solvers • Generate output Files

  9. Forward Kinematics

  10. Solvability • Send to Solvability Library • Notes: Tc ,Bee

  11. Solvability(Build subgraphs)

  12. Solvability(Build sub graphs) ppt={0,1,1,1,3,3,3} Joints={2,2,1,2,3,3,3} ppt(1)={-1,0,2,2,3,3,3} Joints(1)={-1,2,1,2,3,3,3} ppt(2)={-1,-1,5,3,0,5,5} Joints(2)={-1,-1,1,2,3,3,3} ppt(3)={-1,-1,6,3,-1,0,6} Joints(3)={-1,-1,1,2,-1,3,3} ppt(4)={-1,-1,7,3,-1,-1,0} Joints(4)={-1,-1,1,2,-1,-1,3}

  13. Demo • Demo Time

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