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An inverse kinematics algorithm for robot manipulators using incremental unit computation method

Published online by Cambridge University Press:  09 March 2009

Seo W. Park  and
Jun H. Oh
Seo W. Park
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, 130–650, Seoul (South Korea)
Jun H. Oh
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, 130–650, Seoul (South Korea)
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Summary

This paper presents a new method for solving the inverse kinematics of robot manipulators. The method defines incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. Based on these units, the incremental computation of the DDA integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is replaced by a simple look-up table. By using an iterative procedure with convergence rules, the inverse kinematics algorithm is established. A 3 DOF robot is considered as the combination of two types of a 2 DOF robot. Simulation and experiment are performed to test the algorithm.

Keywords

Joint Incremental Unit (JIU)Cartesian Incremental Unit (CIU)Incremental direct kinematicsDDA integratorInverse Jacobian matrixReference-pulse technique.
Type
Article
Information
Robotica , Volume 10 , Issue 5 , September 1992 , pp. 435 - 446
Copyright
Copyright © Cambridge University Press 1992

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