Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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An analysis Inverse Kinematics for Real Time Operation of Industrial Robot

산업용 로봇의 실시간 운용을 위한 역기구학 해석

  • 이용중 (창원기능대학 전기기술학과)
  • Published : 1998.02.01
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Abstract

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

Keywords

References

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