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Inverse Kinematics of Complex Chain Robotic Mechanism Using Ralative Coordinates

상대좌표를 이용한 복합연쇄 로봇기구의 역기구학

Kim, Chang-Bu;Kim, Hyo-Sik
김창부;김효식

  • Published : 1996.11.01

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