3축 하드웨어 보간기를 이용한 관절형 로봇의 직교경로제어에 관한 연구

Abstract

This paper presents a new method for solving the inverse kinematics of robot manipulators. The method defines incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. Based on these units, the incremental computation of the DDA integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is replaced with a simple look-up table. With these approach an inverse kinematics algorithm for two types of 2 DOF robot is established. A 3 DOF, articulated robot is considered as the combination of the two types of 2 DOF robot. By employing two CPUs a new coordinate transformer of reference-pulse type has been realized. A command Cartesian path is given by a 3-axis hardware interpolator, which has been developed by using a custom LSI, KM3701 for 2-axis interpolation. Through experiments the Cartesian path control of the 3 DOF robot is demonstrated.