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International Conference on Modelling and Simulation for Autonomous Systems

MESAS 2019: Modelling and Simulation for Autonomous Systems pp 148–161Cite as

Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11995))

Abstract

We present a solution to the inverse kinematics problem of 5 DoF IRB4400 industrial serial robot arm based on conformal geometric algebra. The algorithm relies on the intersections of geometric primitives such as lines, circles, planes and spheres. This approach provides clear geometric intuition about the problem. In the solution we analytically describe the way how to find the final position of each joint and based on these positions we also determine the joint parameters (i.e. the angles) including the orientation according to the robot’s construction.

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Acknowledgements

The author was supported by solution grand FV19-04 science Fund of the FME 2019 at Brno University of Technology.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czechia

    Radek Tichý

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  1. Radek Tichý
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Correspondence to Radek Tichý .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

  2. MIRPA Lab, University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Petr Vasik

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Tichý, R. (2020). Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra. In: Mazal, J., Fagiolini, A., Vasik, P. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2019. Lecture Notes in Computer Science(), vol 11995. Springer, Cham. https://doi.org/10.1007/978-3-030-43890-6_12

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  • DOI: https://doi.org/10.1007/978-3-030-43890-6_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-43889-0

  • Online ISBN: 978-3-030-43890-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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