• 제목/요약/키워드: Inverse Kinematic Solution

검색결과 56건 처리시간 0.025초

여유 자유도 로봇의 역기구학에 관한 연구 (An Inverse Kinematics of Redundant Manipulators)

  • 조동권;성영휘;정명진
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1993년도 하계학술대회 논문집 A
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    • pp.399-402
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    • 1993
  • 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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신경회로망을 사용한 역운동학 해 (A solution to the inverse kinematic by using neural network)

  • 안덕환;이종용;양태규;이상효
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.124-126
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    • 1989
  • Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

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닫힌 형태의 역기구학 해를 갖는 매니퓰레이터의 정밀도 개선 알고리즘 (An Accuracy Improvement Algorithm for the Manipulators with Closed-Form Inverse Kinematic Solutions)

  • 조혜경;조성호
    • 제어로봇시스템학회논문지
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    • 제6권12호
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    • pp.1093-1098
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    • 2000
  • This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.

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A kinematic Analysis of Binary Robot Manipulator using Genetic Algorithms

  • Gilha Ryu;Ihnseok Rhee
    • International Journal of Precision Engineering and Manufacturing
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    • 제2권1호
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    • pp.76-80
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    • 2001
  • A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

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동적 변화구조의 역전달 신경회로와 로보트의 역 기구학 해구현에의 응용 (A Dynamically Reconfiguring Backpropagation Neural Network and Its Application to the Inverse Kinematic Solution of Robot Manipulators)

  • 오세영;송재명
    • 대한전기학회논문지
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    • 제39권9호
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    • pp.985-996
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    • 1990
  • An inverse kinematic solution of a robot manipulator using multilayer perceptrons is proposed. Neural networks allow the solution of some complex nonlinear equations such as the inverse kinematics of a robot manipulator without the need for its model. However, the back-propagation (BP) learning rule for multilayer perceptrons has the major limitation of being too slow in learning to be practical. In this paper, a new algorithm named Dynamically Reconfiguring BP is proposed to improve its learning speed. It uses a modified version of Kohonen's Self-Organizing Feature Map (SOFM) to partition the input space and for each input point, select a subset of the hidden processing elements or neurons. A subset of the original network results from these selected neuron which learns the desired mapping for this small input region. It is this selective property that accelerates convergence as well as enhances resolution. This network was used to learn the parity function and further, to solve the inverse kinematic problem of a robot manipulator. The results demonstrate faster learning than the BP network.

3관절 매니퓰레이터의 일반적 조합에 대한 역기구학적 폐형해 (Closed Form Inverse Kinematic Solutions for General Combination of Three-Joint Manipulator)

  • 한규범
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1995년도 춘계학술대회 논문집
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    • pp.363-368
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    • 1995
  • A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

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기구학적 전이를 이용한 케이싱 오실레이터의 순기구학 해석 (The Forward Kinematics Solution for Casing Oscillator Using the Kinematic Inversion)

  • 배형섭;백재호;박명관
    • 한국정밀공학회지
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    • 제21권11호
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    • pp.130-139
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    • 2004
  • The Casing Oscillator is a bore file Equipment for the all-casing process. All-casing process is a method of foundation work in construction yard to oscillate steel Casing in the ground. The existing Casing Oscillator has some problem like not boring horizontally with disturbance and not driving Casing othor angle except horizon. To solve problem, the new structure Casing Oscillator is presented and studied. The performance of Casing Oscillator is improved by kinematics analysis. The Casing Oscillator is similar to the parallel manipulator in structure. So we obtain Inverse kinematics solution of Casing Oscillator easily. But it is difficult to solve forward kinematics of Casing Oscillator. T his paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Kinematic Inversion. The closed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. Closed-form forward kinematics solution is verified by an inverse kinematics analysis. It shows that the method has a practical value for real -time control and inverse kinematics servo control.

여유자유도 로봇의 주기적 운동제어를 위한 역기구학 해의 개발 (The Development of an Inverse Kinematic Solution for Periodic Motion of a Redundant Manipulator)

  • 정용섭;최용제
    • 대한기계학회논문집
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    • 제19권1호
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    • pp.142-149
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    • 1995
  • This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.

산업용 FANUC robot의 kinematics와 inverse kinematics에 대한 연구 (A study on kinematics and inverse kinematics of industrial FANUC robot)

  • 박형준;한덕수;이쾌희
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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    • pp.551-556
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    • 1991
  • This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

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스튜어트 플랫폼 순기구학 해의 실시간 추정기법 (Real-Time Estimation of Stewart Platform Forward Kinematic Solution)

  • 정규홍;이교일
    • 대한기계학회논문집
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    • 제18권7호
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    • pp.1632-1642
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    • 1994
  • The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.