오프셋이 있는 여자유도 로봇의 수치해석 기반 역기구학 해석 및 경로계획

Abstract

In this paper, we present new redundant robot shape that have offset. And we present an inverse kinematics of a redundant robot arm with offset by using numerical analysis method. In order to get fast and accurate solution we use dual numerical analysis method not single one. And we can understand about the robot shape intuitively. Complex 3D trajectory planning is also separated the calculation to 2D and 1D method through the Bug2 algorithms. Also we choose path motion method and we can avoid an obstacle and make a smooth trajectory path planning. And we suggest a way point choice method and the way how to select time-step between way points.