등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석
- Title
- 등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석
- Other Titles
- Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra
- Author
- 박장현
- Keywords
- 등각 기하 대수; 역기구학; 인간형 로봇 팔; 여유자유도 매니퓰레이터; 공학; 정밀기계; Conformal Geometric Algebra; Inverse Kinematics; Anthropomorphic Robot Arm; Redundant Manipulator; Engineering
- Issue Date
- 2012-10
- Publisher
- 한국정밀공학회 / Korean Society for Precision Engineering
- Citation
- 한국정밀공학회지 / Journal of the Korean Society for Precision Engineering, Vol.29, No.10 [2012], p1119-1127
- 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 eulerlagrange equation.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01971822http://hdl.handle.net/20.500.11754/39634
- ISSN
- 1225-9071
- DOI
- 10.7736/KSPE.2012.29.10.1119
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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