대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.399-402
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- 1993
여유 자유도 로봇의 역기구학에 관한 연구
An Inverse Kinematics of Redundant Manipulators
- Cho, Dong-Kwon (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
- Sung, Young-Hwee (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
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Chung, Myung-Jin
(Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
- 발행 : 1993.07.18
초록
In this paper, an inverse kinematics of redundant manipulators is proposed. Optimality-constraint based inverse kinematic algorithms have some problems because those algorithms are based on necessary conditions for optimality. Among the problems, switching from a maximum value to a minimum value may occur and make an inverse kinematic solution unstable while performing a given task. An inverse kinematic solution for protecting from the switchings is suggested. By sufficient conditions for optimality, the configuration space is defined as a set of regions, potentially good configuration region and potentially bad configuration region. Inverse kinematics solution within potentially good configuration region can provide joint trajectories without both singularities and switchings. Through a simulation of tracing a circle, we show the effectiveness of this inverse kinematics.
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