Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
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Inverse Kinematics for Five-axis Machines Using Orthogonal Kinematics Chain

5축 밀링가공기의 직교 특성을 이용한 역기구학 방정식의 유도

  • Published : 2008.04.30
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Abstract

This paper proposes an efficient algorithm for deriving inverse kinematics equation of 5-axis machine. Because the joint order and direction of 5-axis machine are different for each type of machine, each type of machine needs its own inverse kinematics equation for post-processing of NC data. Also derived inverse kinematics equation may cause problems of indeterminate and inconsistent solution. In order to resolve these problems, we have developed a generic method to derive direct kinematics equation by considering orthogonal joints of 5-axis machines. Using this method, we also have proposed a general algorithm for deriving inverse kinematics equation for various types of 5-axis machines.

Keywords

References

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