Title :
Industrial robot manipulators with redundancy: YH050 case
Author :
Kim, Jayoung ; Lee, Jihong ; Kim, Dong-Hyeok ; Lim, Hyun-Kyu ; Kim, Sung-Rak
Author_Institution :
Mechatron. Group, Chungnam Nat. Univ., Daejeon, South Korea
Abstract :
This paper presents an analysis of inverse kinematics solutions for YH050 which is an industrial robot manipulator developed by Hyundai Heavy Industries Co. We propose three methods: numerical approach, geometrical approach and combined approach. These approaches are addressed through theoretical explanation and experimental verification.
Keywords :
industrial manipulators; manipulator kinematics; position control; redundancy; Hyundai Heavy Industries Co; YH050; geometrical approach; industrial robot manipulators; inverse kinematics solutions; numerical approach; redundancy;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980596
