Inverse Kinematics of a Redundant Manipulator based on Conformal Geometry using Geometric Approach

Je Seok Kim, Jin Han Jeong, Jahng Hyon Park

2015

Abstract

This paper describes a geometrical approach for analysing the inverse kinematics of a 7 Degrees of Freedom (DOF) redundant manipulator. The geometric approach is desirable since it provides complete and simple solutions to the problem and determines the relationship between the joints and the end-effector without iterative process. This paper introduces the approach to solve kinematic solution of 7 DOF in an intuitive way using conformal geometric approach step by step. We finally present the comparison with pseudo inverse solution which is the most well-known method in redundant manipulator kinematic problem at the same simulation environment.

Paper Citation

in Harvard Style

Seok Kim J., Han Jeong J. and Hyon Park J. (2015). Inverse Kinematics of a Redundant Manipulator based on Conformal Geometry using Geometric Approach . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 179-185. DOI: 10.5220/0005535001790185

in Bibtex Style

@conference{icinco15,
author={Je Seok Kim and Jin Han Jeong and Jahng Hyon Park},
title={Inverse Kinematics of a Redundant Manipulator based on Conformal Geometry using Geometric Approach},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={179-185},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005535001790185},
isbn={978-989-758-122-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Inverse Kinematics of a Redundant Manipulator based on Conformal Geometry using Geometric Approach
SN - 978-989-758-122-9
AU - Seok Kim J.
AU - Han Jeong J.
AU - Hyon Park J.
PY - 2015
SP - 179
EP - 185
DO - 10.5220/0005535001790185