제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A study on kinematics and inverse kinematics of industrial FANUC robot

산업용 FANUC robot의 kinematics와 inverse kinematics에 대한 연구

  • 박형준 (서강대학교 이공대학 전자공학과) ;
  • 한덕수 (서강대학교 이공대학 전자공학과) ;
  • 이쾌희 (서강대학교 이공대학 전자공학과)
  • Published : 1991.10.01
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Abstract

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

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