| Title: | OS2-1 Robot Manipulator Arm Inverse Kinematics Analysis by Jacobian * |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 282-285 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS2-1 |
| Author(s): | Sun Oh Park, Jin Gon Yoon, Min Gyu Jung, Min Cheol Lee |
| Publication Date: | February 2, 2018 |
| Keywords: | Inverse Kinematics, Jacobian, Singular Point, 7-DOF Robot |
| Abstract: | There are three methods for solving inverse kinematic that are algebraic, geometric and numerical. The advantage of algebraic and geometric method is that can analyze exactly but these two methods are not only difficult to analysis but also need to recalculate when DOFs of a robot arm or DH-parameters are changed and increased. That is why this paper will present how to approach numerical method by Jacobian in place of previous two methods. The Jacobian based numerical method can easily solve any DOF and DH-parameter except singular point problem. Therefore, Jacobian based solution for solving inverse kinematics of 7-DOFs robot arm is introduced. A method to avoid singular point by using condition number is introduced. In the future, we will adapt this result to 7DOF dual robot arm and then compare our numerical method and real system |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS2/OS2-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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