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Inverse Kinematics for Five-axis Machines Using Orthogonal Kinematics Chain  

So, Bum-Sik (경북하이브리드부품연구원)
Jung, Yoong-Ho (부산대학교 기계공학부)
Publication Information
Korean Journal of Computational Design and Engineering / v.13, no.2, 2008 , pp. 153-161 More about this Journal
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
5-axis machining; Inverse kinematics; Post-processing; NC data;
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