Hostname: page-component-89b8bd64d-ksp62 Total loading time: 0 Render date: 2026-05-07T03:17:46.798Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

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.

Information

Type
Article
Information
Robotica , Volume 10 , Issue 5 , September 1992 , pp. 435 - 446
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Park, Seo W., Yu, Seok J. and Oh, Jun H., “Motion control of Two DOF SCARA Arm with End Effector Position Feedback” 20th International Symposium on Industrial Robots, Tokyo, Japan, 1091–1098 (10, 1989).Google Scholar
2.Shoham, M., Fainman, Y. and Lenz, E., “An Optical Sensor for Real-Time Positioning, Tracking, and Teaching of Industrial Robots” IEEE Trans, on Industrial Electronics IE-31, No. 2, 159–163 (1984).Google Scholar
3.Furuta, K. et al. , “Control of Articulated Robot Arm with Sensory Feedback: Laser Beam Tracking System” IEEE Trans, on Industrial Electronics 35, No. 1, 31–39 (02, 1988).Google Scholar
4.Paul, R.P., Shimano, B. & Mayer, G.E., “Kinematic Control Equations for Simple Manipulators” IEEE Trans. On Syst. Man, and Cybern. SMC-11, No. 6, 449–455 (06, 1981).Google Scholar
5.Featherstone, R., “Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles” Int. J. Robotics Research 2, No. 2, 35–45 (Summer, 1983).CrossRefGoogle Scholar
6.Tasi, Yusheng T. & Orin, David E., “A Strictly Convergent Real-Time Solution for Inverse Kinematics of Robot Manipulators” J. Robotic Systems, 4(4), 477–501 (1987).Google Scholar
7.Oh, Se-Young, Orin, David & Bach, Michael, “An Inverse Kinematic Solution for Kinematically Redundant Robot Manipulators” J. Robotic Systems 1(3), 235–249 (1984).CrossRefGoogle Scholar
8.Sizer, T.R.H., The Digital Differential Analyzer (Chapman & Hall, London, England, 1968).Google Scholar
9.Koren, Y., Computer Control of Manufacturing Systems, (McGraw-Hill, New York, 1983).Google Scholar
10.Oh, Jun-Ho and Park, Seo-Wook, “A New Approach for Solving the Inverse Kinematics in Real-Time Application” 1989 World Conference on Robotics Research: The Next Five Years and Beyond,Gaithersburg, Maryland, U.S.A., 4/17–4/28 (05, 1989).Google Scholar
11.Koren, Y. & Masory, O., “Reference-Pulse Circular Interpolators for CNC System” Trans, of the ASME J. of Engineering for Industry 103, 131–136 (02, 1981).Google Scholar
12.Operation Manual for C-MOS LSI, KM3701, TOKO, Inc.Google Scholar