기준 펄스 방식에 근거한 관절형 로보트의 실시간 동작제어에 관한 연구

Abstract

This paper presents a new algorithm for solving the inverse kinematics in real time application. For a planar robot the end-tip movement of each link can be resolved into the basic command unit (BCU), which is determined from the link length, and the resolution of the joint motion. When x- and y-axis projection of the end-tip movement are expressed in BCU, projectional increments corresponding to joint increments become -1, 0 or 1. By using the incremental computation with these increments and some simple logic operations, the inverse kinematics can be realized. Through this approach, a reference-pulse system for the two-link planar robot is established. The proposed algorithm is applied to the real time motion control of the 2 DOF SCARA robot. The experimental results show the path tracking performance of the motion control system.