On-line coordinate transformation for a 3 DOF articulated robot: incremental unit computation method

Author

Park, Seo W. ; Baek, Seung H. ; Oh, Jun H.

Author_Institution

Machinery Equipment Div., Hyundai Electron. Ind. Co. Ltd., Kyoungki-do, South Korea

fYear

1991

fDate

19-22 June 1991

Firstpage

1522

Abstract

Presents a new method for solving the inverse kinematics of a 3 DOF articulated robot. The 3 DOF robot can be represented by two kinds of planar robot: a polar robot and a two-link planar robot. The proposed method defines incremental units in joint and Cartesian spaces which represent the position resolution in each space. Based on these units, an incremental computation of the digital differential analyser integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is easily realized through a simple lookup table. By using the above new concepts, a coordinate transformer based on the reference-pulse technique is suggested. An experiment for sensor-based motion control is performed to show the effectiveness of the proposed coordinate transformer.<>

Keywords

kinematics; matrix algebra; position control; robots; table lookup; 3 DOF articulated robot; Cartesian spaces; coordinate transformer; direct kinematics; incremental unit computation method; inverse Jacobian matrix; inverse kinematics; lookup table; planar robot; polar robot; position control; position resolution; reference-pulse technique; sensor-based motion control; Couplings; End effectors; Equations; Gears; Orbital robotics; Pneumatic actuators; Production; Robot kinematics; Service robots; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240519

Filename

240519