Abstract
Inverse kinematics solutions for multi-DOF arms can be classified as analytical or numerical. In general, analytical solutions are preferable to numerical solutions because analytical ones yield complete solutions and are computationally fast and reliable. However, analytical closed-form solutions for inverse kinematics of 6-DOF arms rarely exist for real-time control purposes of fast moving arms. In this paper, we propose a fast inverse kinematics algorithm with a closed-form solution for a specific 6-DOF arm. The proposed algorithm is verified using simulation modules developed by us for demonstrations.
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Recommended by Editorial Board member Shinsuk Park under the direction of Editor-in-Chief Jae-Bok Song.
This work was supported by Konkuk University in 2010.
Thanhtam Ho received his B.S. degree from the Mechatronics Department at Hochiminh City University of Technology, Vietnam, in 2005 and his M.S. degree in Mechanical Design and Production Engineering in 2008 from Konkuk University, Seoul, Korea, where he is currently pursuing his Ph.D. degree in Mechanical Engineering. His research interests consist of the humanoid robot arm, biomimetics robots, lateral position control for the roll-to-roll printing system and computational simulation.
Chul-Goo Kang received his B.S. and M.S. degrees in Mechanical Design and Production Engineering from Seoul National University in 1981 and 1985, respectively. He received his Ph.D. degree in Mechanical Engineering from the University of California, Berkeley, in 1989. Currently, he is a professor at Konkuk University in Seoul, Korea. He served as the General Chair of 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011). His research interests include intelligent motion and force control, force sensors, train brake systems, and intelligent robots.
Sangyoon Lee received his B.S. degree from Seoul National University in 1993, his M.S. degree from KAIST in 1996, and his Ph.D. degree in Mechanical Engineering from Johns Hopkins University in 2002. Since then, he has been a professor at Konkuk University, Seoul, Korea. His research interests include robotics, automation, and robotics applications to bioengineering.
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Ho, T., Kang, CG. & Lee, S. Efficient closed-form solution of inverse kinematics for a specific six-DOF arm. Int. J. Control Autom. Syst. 10, 567–573 (2012). https://doi.org/10.1007/s12555-012-0313-9
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DOI: https://doi.org/10.1007/s12555-012-0313-9