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ISSN: 1820-0206
First published in
1950
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doi:10.5937/OTEH2402023T
Vol. 74, No.2 (2024), Pages:
23-31
Impressum
Contents
Application of Screw Theory and its Implementation in Python for
Controlling a Niryo One Manipulator
Vuk Todorović
Milan Blagojević
Nikola Nešić
The representation of a robot’s configuration can be diverse, each
with its advantages and disadvantages. In this paper, we approach
the problem using screw theory, which states that all rigid-body
motion can be represented with a rotation and translation along a
screw axis. Using this as a basis, we’ll be tackling the inverse
kinematic problem of robots, which lacks standardized ways of being
determined, unlike the forward kinematics problem. With that in
mind, here we will show a combined approach of the analytic and
numerical way of solving the inverse kinematic problem on a Niryo
One robotic manipulator. The analytic solution is derived by
simplifying the robot’s structure and then using those results as
initial guesses for the Newton-Raphson numerical method which may
produce up to 8 possible solutions. The theoretical foundation is
then implemented using the Python programming language after which
the solution is sent to the robot via a Niryo One ROS API – pyniryo.
Key words: screw theory, inverse kinematics, Paden-Kahan
subproblems, Newton-Raphson method , Python, Niryo One.
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