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Kinematic Synthesis Solver for Tree Topologies

ArtTreeKSa is a kinematic synthesis solver for tree topologies, presented by alitamimi. The architecture includes input, solvability library, generator file, synthesis file, and solvers like genetic algorithm. Installation dependencies include libdq, cminpack, Pthread, Lua, SDL, and more. Input involves forward kinematics, tree topology, end effector details. Execute synthesis chain, use solvers, and generate output files for forward kinematics and solvability. Demo available.

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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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