DocumentCode
2705042
Title
Industrial robot manipulators with redundancy: YH050 case
Author
Kim, Jayoung ; Lee, Jihong ; Kim, Dong-Hyeok ; Lim, Hyun-Kyu ; Kim, Sung-Rak
Author_Institution
Mechatron. Group, Chungnam Nat. Univ., Daejeon, South Korea
fYear
2011
fDate
9-13 May 2011
Firstpage
1
Lastpage
4
Abstract
This paper presents an analysis of inverse kinematics solutions for YH050 which is an industrial robot manipulator developed by Hyundai Heavy Industries Co. We propose three methods: numerical approach, geometrical approach and combined approach. These approaches are addressed through theoretical explanation and experimental verification.
Keywords
industrial manipulators; manipulator kinematics; position control; redundancy; Hyundai Heavy Industries Co; YH050; geometrical approach; industrial robot manipulators; inverse kinematics solutions; numerical approach; redundancy;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980596
Filename
5980596
Link To Document