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Automated inverse-kinematics for robot off-line programming

Published online by Cambridge University Press:  09 March 2009

W.Edward Red  and
Shao-Wei Gongt
W.Edward Red
Affiliation:
Department of Mechanical Engineering, Brigham Young University, Provo, Utah 84602 (USA).
Shao-Wei Gongt
Affiliation:
Department of Mechanical Engineering, Tennessee Tech. University, Cookeville, TN 38501 (USA).
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Extract

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.

To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-offreedom robots.

Keywords

Off-line programmingInverse kinematicsRobotsAutomated methods.
Type
Research Article
Information
Robotica , Volume 12 , Issue 1 , January 1994 , pp. 45 - 53
Copyright
Copyright © Cambridge University Press 1994

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