제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A fast inverse kinematic analysis of industrial FANUC robot

산업용 FANUC robot의 빠른 역기구학에 관한 연구

  • 박형준 (서강대학교 이공대학 전자공학과) ;
  • 전종욱 (서강대학교 이공대학 전자공학과) ;
  • 이쾌희 (서강대학교 이공대학 전자공학과)
  • Published : 1992.10.01
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Abstract

This paper deals with the solution of inverse kinematics of the industrial FANUC robot with IBM PC386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matirix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we fuund otehr 5-joint angle by and algebraical method after finding .THETA.$_{1}$ value by a numerical method.d.

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