Inverse kinematics of a redundant manipulator based on conformal geometry using geometric approach
- Authors
- Kim, J.S.; Jeong, J.H.; Park, Jahng Hyon
- Issue Date
- 2015
- Publisher
- SciTePress
- Keywords
- Conformal geometry; Geometric approach; Inverse kinematics analysis; Joint angles; Redundancy
- Citation
- ICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings, v.1, pp.179 - 185
- Indexed
- SCOPUS
- Journal Title
- ICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings
- Volume
- 1
- Start Page
- 179
- End Page
- 185
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158309
- DOI
- 10.5220/0005535001790185
- ISSN
- 0000-0000
- Abstract
- This paper describes a geometrical approach for analysing the inverse kinematics of a 7 Degrees of Freedom (DOF) redundant manipulator. The geometric approach is desirable since it provides complete and simple solutions to the problem and determines the relationship between the joints and the end-effector without iterative process. This paper introduces the approach to solve kinematic solution of 7 DOF in an intuitive way using conformal geometric approach step by step. We finally present the comparison with pseudo inverse solution which is the most well-known method in redundant manipulator kinematic problem at the same simulation environment.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.