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Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra

Title
Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra
Author
박장현
Keywords
Inverse kinematics; Geometric singularity; Workspace analysis; 3-SPS/S redundant motion mechanism; Conformal geometric algebra
Issue Date
2015-06
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Citation
MECHANISM AND MACHINE THEORY, v. 90, Page. 23-36
Abstract
We propose a 3-SPS/S redundant motion mechanism with kinematic redundancy in this paper. The proposed mechanism with redundancy enables redundant motion as it works like pan/tilt systems to reduce the unnecessary degree of freedom for the yaw and pitch motions in the configuration space. By reducing one degree of freedom, this robot has self-motion that causes the inverse kinematics to have infinite solutions, so that the proposed research performs an optimization process for obtaining the optimal solution using geometric approaches. This optimal solution provides the fastest response among the infinite solutions by minimizing each link movement to the target orientation. In addition, we performa geometric singularity analysis due to limited link length and avoidance using conformal geometric algebra for the feasibility and correctness of the inverse kinematics. (C) 2015 Elsevier Ltd. All rights reserved.
URI
http://www.sciencedirect.com/science/article/pii/S0094114X15000373http://hdl.handle.net/20.500.11754/25518
ISSN
0094-114X
DOI
10.1016/j.mechmachtheory.2015.02.009
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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