INVERSE KINEMATICS OF PLANAR REDUNDANT MANIPULATORS VIA VIRTUAL LINKS WITH CONFIGURATION INDEX
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- Title
- INVERSE KINEMATICS OF PLANAR REDUNDANT MANIPULATORS VIA VIRTUAL LINKS WITH CONFIGURATION INDEX
- Authors
- CHUNG, WJ; CHUNG, WK; YOUM, Y
- Date Issued
- 1994-01
- Publisher
- JOHN WILEY & SONS INC
- Abstract
- This article presents a new method for generating inverse kinematic solutions for planar manipulators with large redundancy (hyper-redundant manipulators). The proposed method starts by decomposing a planar redundant manipulator into a series of local planar arms that are either 2-link or 3-link manipulator modules, and connecting the conjunction points between them with virtual links. The manipulator then can be handled by a simple virtual link system, which may be conveniently divided into non-singular and singular cases depending on its configuration. When the virtual link system is no longer effective due to a singular configuration, the displacement of the end-effector is then allocated to virtual links according to a displacement distribution criterion. A dexterity index called the ''configuration index'' distinguishes the non-singular and singular cases. The concept of virtual link is shown by computer simulations to be simple and effective for the inverse kinematics of a planar hyper-redundant manipulator with a discrete model. In particular, it can be applied to solving the inverse kinematics of a SCARA-type spatial redundant manipulator whose redundancy is included in its planar mechanism. (C) 1994 John Wiley & Sons, Inc.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21990
- DOI
- 10.1002/rob.4620110205
- ISSN
- 0741-2223
- Article Type
- Article
- Citation
- JOURNAL OF ROBOTIC SYSTEMS, vol. 11, no. 2, page. 117 - 128, 1994-01
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