Inverse Kinematic Analysis of a Three Dimensional Binary Robot Manipulator

3차원 2진 로봇 머니퓰레이터의 역기구학적 해석

  • 류길하 (한국기술교육대학교 제어기계공학과) ;
  • 이인석 (한국기술교육대학교 제어기계공학과)
  • Published : 1999.04.01

Abstract

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

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