Inverse kinematics problem of IRB, Fanuc, Mitsubishi, Adept and Kuka series manipulators

• Autorzy: Szkodny T.
• Języki publikacji: EN

Abstrakty

EN

In this paper the solution algorithm of an inverse kinematics problem for IRB, Fanuc, Mitsubishi, Adept and Kuka robots is presented. This algorithm may be a basic component of future computational intelligence for theses robots. The problem of computing the joint variables corresponding to a specified location of end-effector is called an inverse kinematics problem. This algorithm was implemented into the controller of the KUKA KRC3 robot. It allowed controlling these robots by using the vision system, which specifies the required location of the end-effector. This required location makes it possible for the end-effector to approach a manipulation object (observed by the vision system) and pick it up. These robots are equipped with several manipulators which have 6 links joined by a revolute joint. First the location of end-effector in relation to the base of the manipulator was described. Next the analytical formulas for joint variables (dependent on these location) were presented. These formulas have taken into account the multiple solutions for singular configurations of these manipulators.

Słowa kluczowe

EN

kinematics; manipulators; mechanical system; robot kinematics

PL

kinematyka; manipulatory; kinematyka robota

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2010
• Tom: Vol. 15, no 3
• Strony: 847--853
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Szkodny T.

• Institute of Automatic Control Silesian University of Technology ul. Akademicka 16, 44-100 Gliwice, POLAND,

Bibliografia

• Jezierski E. (2006): Dynamics and Control of Robots. – Warsaw: WNT 2006, ch.2, (in Polish).
• Kmiecik M. (2009): Solution Algorithm of Inverse Kinematics Problem for KUKA KRC3 Robot. – M. Sc. Dissertation, Institute of Automatic Control, Faculty of Automatic Control, Electronic and Computer Science, Silesian University of Technology, Gliwice, Poland, (in Polish).
• Kozłowski K., Dutkiewicz P. and Wróblewski W. (2003): Modeling and Control of Robots. – Warsaw: PWN, ch 1, (in Polish).
• Małek D. (2009): The External Communication of KUKA KRC3 Robot Controller. – M. Sc. Dissertation, Institute of Automatic Control, Faculty of Automatic Control, Electronic and Computer Science, Silesian University of Technology, Gliwice, Poland, (in Polish).
• Paul R.P. (1983): Robot manipulators: mathematics, programming and control. – Cambridge, MA, The MIT Press, ch.2.
• Szkodny T. (2004): Modeling and Simulation of Industrial Robot Manipulator Motion. – Gliwice. Silesian University of Technology Publ. Company, ch.2, (in Polish).
• Szkodny T. (2009a): Basic component of computational intelligence for IRB-1400 robots. Man-Machine Interactions. Berlin Heidelberg: Springer-Verlag, part. XI, pp-637-646.
• Szkodny T. (2009b): Kinematics of Industrial Robots. – Gliwice. Silesian University of Technology Publ. Company, ch.2,3,4 (in Polish).
• Szkodny T. (2010): Foundation of Robotics Problems Set. – Gliwice. Silesian University of Technology Publ. Company, (in Polish).