7 자유도 로봇팔 역기구학의 기하학적 해석

다국어 초록 (Multilingual Abstract)

This paper presents geometric analysis of inverse kinematics of 7-DOF robot arm. Redundant inverse kinematics was developed usually by Pseudo Inverse Matrix method using Jacobian. But that was not only difficult to understand but also it needs more time to compute the result. The reason why Pseudo Inverse Matrix method takes much time is that it should numerically integrate velocity solution to get ultimate position value. Because it should be computed by computer machine, integration must have accumulated error due to its limit of integration time interval Δt . And also it should compute Jacobian every time when it need next position derivative. It means that calculation burden is very considerable. So here I come up with explicit and closed-form solution to get exact robot joint angle solution. Besides inverse kinematics, I fully take advantage of control theory which can help operate robot arm very smoothly within limit of motor torque. Those are LSPB, velocity feedback, and gravity compensation technique.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 6 자유도 역기구학
• 3. 7 자유도 역기구학
• 4. 시뮬레이션
• 5. 결론
• 6. 후기
• 참고문헌