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초록
This paper describes a geometrical approach for analysing the inverse kinematics of a 7 Degrees of Freedom (DOF) redundant manipulator. The geometric approach is desirable since it provides complete and simple solutions to the problem and determines the relationship between the joints and the end-effector without iterative process. This paper introduces the approach to solve kinematic solution of 7 DOF in an intuitive way using conformal geometric approach step by step. We finally present the comparison with pseudo inverse solution which is the most well-known method in redundant manipulator kinematic problem at the same simulation environment.
키워드
Conformal geometry; Geometric approach; Inverse kinematics analysis; Joint angles; Redundancy; Degrees of freedom (mechanics); Geometry; Industrial manipulators; Inverse kinematics; Iterative methods; Redundancy; Redundant manipulators; Robotics; Conformal geometry; Geometric approaches; Geometrical approaches; Joint angle; Kinematics analysis; Manipulator kinematics; Pseudo inverse solutions; Simulation environment; Inverse problems
- 제목
- Inverse kinematics of a redundant manipulator based on conformal geometry using geometric approach
- 저자
- Kim, J.S.; Jeong, J.H.; Park, Jahng Hyon
- 발행일
- 2015-00
- 유형
- Conference Paper
- 저널명
- ICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings
- 권
- 1
- 페이지
- 179 ~ 185