• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.953-959
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• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• 대한기계학회논문집A
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• 제28권10호
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• pp.1574-1582
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• 2004

Binary manipulators have recently received much attention due to hyper-redundancy, light weight, good controllability and high reliability. The precise positioning of the manipulator end-effecter requires the use of many modules, which results in a high-dimensional workspace. When the workspace dimension is large, existing inverse kinematics methods such as the Ebert-Uphoff algorithm may require impractically large memory size in determining the binary positions of all actuators. To overcome this limitation, we propose a new inverse kinematics algorithm: the inverse kinematics problem is formulated as an optimization problem using real-valued design variables, The key procedure in this approach is to transform the integer-variable optimization problem to a real-variable optimization problem and to push the real-valued design variables as closely as possible to the permissible binary values. Since the actual optimization is performed in real-valued design variables, the design sensitivity becomes readily available, and the optimization method becomes extremely efficient. Because the proposed formulation is quite general, other design considerations such as operation power minimization can be easily considered.

• 한국지능시스템학회논문지
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• 제17권7호
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• pp.862-868
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• 2007

일반적으로 인간손에 있는 검지 손가락의 평면운동은 3개의 관절운동에 의해 이루어진다. 이러한 운동을 위해서는 기본적으로 역기구학 문제를 풀어야 하는데, 이것은 로봇 손을 이용한 파지나 조작행위에 있어서 필수적이다. 따라서 본 논문에서는 이러한 로봇 손가락의 역기구학 문제를 지능적으로 해결할 수 있는 뉴럴 러닝에 기반한 방법을 제안하고자 한다. 제안된 방법은 뉴럴 러닝에 있어서 동적인 학습율을 적용함으로써 보다 빠른 학습이 가능하고, 생체모방에 근거한 인간 손가락의 운동특성을 고려하는 것이 특징이다. 제안된 방법의 유용성을 입증하기 위하여 시뮬레이션을 수행한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.557-562
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• 1991

In this paper, we present new methods for solving the inverse kinematics associated with 6 degree of freedoms manipulator by the numerical method. This method will be based on tracking stability of special nonlinear dynamical systems, and differs from the typical techniques based by the Newton-Gauss or Newton-Raphson method for solving nonlinear equations. This simulation results show that the new method is solving the inverse kinematics of PUMA 560 without the derivative of a given task space trajectories.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.402-405
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• 1997

Based on the relative velocity method and the inverse kinematics theory, this paper presents an automated system for designing and manufacturing of an open type cylindrical cam with a rotating follower(OCRF). In the first part, this paper defines the relative velocity method for OCRF and calculates the contact point by using the coordinate transformation technique. In the second part, it generates NC Code of a CNC machine center for inverse kinematics by using the cutter location and the cutter orientation of OCRF. Finally, the automated CADICAM program developed in the paper shows an example on the desip and manufacture process of OCRF.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.307-308
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.921-922
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• 2011