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http://dx.doi.org/10.7746/jkros.2012.7.1.035

Inverse Kinematics Solution and Optimal Motion Planning for Industrial Robots with Redundancy  

Lee, Jong-Hwa (충남대학교 메카트로닉스공학과)
Kim, Ja-Young (충남대학교 메카트로닉스공학과)
Lee, Ji-Hong (충남대학교 메카트로닉스공학과)
Kim, Dong-Hyeok (현대중공업(주) 기계전기연구소 로보틱스 연구실)
Lim, Hyun-Kyu (현대중공업(주) 기계전기연구소 로보틱스 연구실)
Ryu, Si-Hyun (현대중공업(주) 기계전기연구소)
Publication Information
The Journal of Korea Robotics Society / v.7, no.1, 2012 , pp. 35-44 More about this Journal
Abstract
This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.
Keywords
Inverse kinematics; Dual arm robot; Redundancy; Manipulator; Industrial robot;
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