Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 20 Issue 11
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- Pages.3398-3407
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
Inverse Kinematics of Complex Chain Robotic Mechanism Using Ralative Coordinates
상대좌표를 이용한 복합연쇄 로봇기구의 역기구학
- Kim, Chang-Bu (Dept.of Operation Engineering, Inha University) ;
- Kim, Hyo-Sik (Graduate School of Inha University)
- Published : 1996.11.01
Abstract
In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.
Keywords