Generalized solution for a sub-problem of inverse kinematics based on product of exponential formula
- Title
- Generalized solution for a sub-problem of inverse kinematics based on product of exponential formula
- Author
- 서태원
- Keywords
- Inverse kinematics; Paden-Kahan sub-problem; Product of exponential; Screw theory
- Issue Date
- 2018-05
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v. 32, no. 5, page. 2299-2307
- Abstract
- Inverse kinematics presents nontrivial problems in serial manipulators as there is no unique, generalized solution that is applicable to various configurations. Till date, limited results exist on skew configurations, while the published problem definitions and solutions are physically nonintuitive. We present a generalized solution for a subproblem of inverse kinematics based on an exponential formula product, in accordance to a geometrically intuitive method. A case study with a six-degree-of-freedom manipulator is presented to verify the effectiveness of the proposed definition and solution. The latter can be adopted to analyze inverse kinematic problems applicable to various serial manipulators.
- URI
- https://link.springer.com/article/10.1007%2Fs12206-018-0441-0https://repository.hanyang.ac.kr/handle/20.500.11754/118840
- ISSN
- 1738-494X; 1976-3824
- DOI
- 10.1007/s12206-018-0441-0
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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