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Inverse Kinematics of Complex Chain Robotic Mechanism Using Ralative Coordinates
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 Title & Authors
Inverse Kinematics of Complex Chain Robotic Mechanism Using Ralative Coordinates
Kim, Chang-Bu; Kim, Hyo-Sik;
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 Abstract
In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.
 Keywords
Inverse Kinematics;Complex Chain;Robotic Mechanism;Optimization Technique;Relative Coordinates;Cut Link Method;Kinematic Constraints;Independent Joint Variables;Dependent Joint Variables;Precision Point;
 Language
Korean
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