ArtTreeKS is a dedicated kinematic synthesis solver for tree topologies. It is designed specifically for finite position kinematic synthesis and has support for both position constraints as well as velocity or acceleration constraints.

The solver employed is a hybrid solved that is based on a Genetic Algorithm (GA) built on top of a Levenberg-Marquadt local optimizer. This allows obtaining solutions for very complex tree topologies.

ArtTreeKS
  • Type: library
  • Version: Mar, 2012
  • Language: C, Lua
  • License: GPLv3+
  • Dependencies libdq, cminpack, pthread, lua, sdl, libpng, gl, glu, (nlopt), (minpack)

Overview

This is a set of tools for performing dimensional kinematic synthesis on tree topologies. These provide an implementation of the following papers

Edgar Simo-Serra, Alba Perez-Gracia, Hyosang Moon, Nina Robson
Design of Multi-fingered Robotic Hands for Finite and Infinitesimal Tasks using Kinematic Synthesis
Advances in Robot Kinematics (ARK), 2012

and

Edgar Simo-Serra, Francesc Moreno-Noguer, Alba Perez-Gracia
Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks
ASME International Design Engineering Technical Conferences (IDETC), 2011

License

Copyright 2010-2012 Edgar Simo-Serra
 
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.

Usage

Run make to compile. You may have to tweak settings by editting the Makefile to get things to compile. Afterwards copy synthesis.so to your Lua require path or just use locally.

If you use the code please cite

@InProceedings{SimoSerraIDETC2011,
   author = {Edgar Simo-Serra and Francesc Moreno-Noguer and Alba Perez-Gracia},
   title = {{Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks}},
   booktitle = "Proc. of the 2011 ASME International Design Engineering Technical Conferences",
   year = 2011,
}

and if you use the velocity/acceleration constraints also

@InProceedings{SimoSerraARK2012,
   author = {Edgar Simo-Serra and Alba Perez-Gracia and Hyosang Moon and Nina Robson},
   title = {{Design of Multi-fingered Robotic Hands for Finite and Infinitesimal Tasks using Kinematic Synthesis}},
   booktitle = "Advances in Robot Kinematics (ARK)",
   year = 2012,
}

Changelog

  • Version 1.0, March 2012
    • Initial release