A study on the solution of inverse jacobian for TOP-1

TOP-1 로보트의 Inverse Jacobian의 해

This paper is about the Inverse Jacobian for the TOP-1 robot. The robot Jacobian is used for the movement in accordance with differental changes. A Matrix and Homogeneous Transformation Matrix, Differential Motion Vector D are applied to Jacobian equation for the movement of the robot in accordance with the minut changes. The solution of Jacobian equation is acquired and applied for the subtle movement of each arms of the robot. The interface with APPLE-II Micro-computer is searched out too. The Software and the interface resulted from this paper are considered to be higly useful in the accurate control on the robot when they are linked with dynamics of robot.