The inverse kinematics and redundancy of reclaimers

불출기의 여유자유도와 역기구학 해

  • 신기태 (포항산업과학연구원(RIST)) ;
  • 최진태 (포항산업과학연구원(RIST)) ;
  • 이관희 (포항산업과학연구원(RIST)) ;
  • 안현식 (포항산업과학연구원(RIST))
  • Published : 1997.10.01

Abstract

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

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