등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra
- Other Titles
- Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra
- Authors
- 김제석; 박장현; 지용관
- Issue Date
- 2012
- Publisher
- 한국정밀공학회
- Keywords
- Conformal Geometric Algebra (등각 기하 대수); Inverse Kinematics (역기구학); Anthropomorphic Robot Arm (인간형 로봇 팔); Redundant Manipulator (여유자유도 매니퓰레이터)
- Citation
- 한국정밀공학회지, v.29, no.10, pp.1119 - 1127
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 29
- Number
- 10
- Start Page
- 1119
- End Page
- 1127
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166634
- DOI
- 10.7736/KSPE.2012.29.10.1119
- ISSN
- 1225-9071
- Abstract
- In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm’s end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.
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