Abstract
In this paper the solution algorithm of inverse kinematics problem for KUKA KR C3 robot is presented. This algorithm may be a basic component of future computational intelligence for theses robots. The problem of computing the joint variables corresponding a specified location of end-effector is called inverse kinematics problem. This algorithm was implemented into the controller of the robot. It allowed controlling these robots by using the vision system, which specifies required location of the end-effector. This required location makes it possible for the end-effector to approach a manipulation object (observed by vision system) and pick it up. These robots are equipped with several manipulator which has 6 links joined by revolute joint. First the location of end-effector in relation to the base of the manipulator were described. Next the position workspace of this robot was illustrated. The example of solutions of the inverse kinematics problem and conclusions were presented in the end of this work. In this example are the multiple solutions for singular configurations of this manipulator.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Tadeusiewicz, R.: Vision Systems of Industrial Robots. WNT, Warsaw (1992) (in Polish)
Kmiecik, M.: Solution Algorithm of Inverse Kinematics Problem for KUKA KRC3 Robot. M. Sc. Dissertation, Institute of Automatic Control, Faculty of Automatic Control, Electronic and Computer Science, Silesian University of Technology, Gliwice (2009); Poland, (in Polish)
Małek, D.: The External Communication of KUKA KRC3 Robot Controller. M. Sc. Dissertation, Institute of Automatic Control, Faculty of Automatic Control, Electronic and Computer Science, Silesian University of Technology, Gliwice (2009); Poland, (in Polish)
Paul, R.P.: Robot Manipulators: Mathematics, Programming and Control, Ch. 2. The MIT Press, Cambridge (1983)
Kozłowski, K., Dutkiewicz, P.: Modeling and Control of Robots, Ch.1. PWN, Warsaw (2003) (in Polish)
Jezierski, E.: Dynamics and Control of Robots, Ch. 2. WNT, Warsaw (2006) (in Polish)
Szkodny, T.: Modeling and Simulation of Industrial Robot Manipulator Motion, Ch. 2. Silesian University of Technology Publ. Company, Gliwice (2004); Poland, (in Polish)
Szkodny, T.: Kinematics of Industrial Robots, Ch.2,3,4. Silesian University of Technology Publ. Company, Gliwice (2009); Poland, (in Polish)
Szkodny, T.: Foundation of Robotics Problems Set, Ch.2. Silesian University of Technology Publ. Company, Gliwice (2010); Poland, (in Polish)
Szkodny, T.: Foundation of Robotics, Ch.3, 4. Silesian University of Technology Publ. Company, Gliwice (2011); Poland, (in Polish)
Szkodny, T.: Inverse Kinematics Problem of IRB, Fanuc, Mitsubishi, Adept and Kuka Series Manipulators. Int. Jorn. of Applied Mechanics and Engineering 15(3), 847–853 (2010)
Szkodny, T.: Kinematics of KUKA KRC3 Robots, vol. 2, pp. 357–368. Warsaw University of Technology Publ. Company, Warsaw (2010); Poland, (in Polish)
Technical Documentation of KUKA KR3 Robot: Operation Handbook
Szkodny, T.: Basic Component of Computational Intelligence for IRB-1400 Robots. In: Cyran, K.A., Kozielski, S., Peters, J.F., Stańczyk, U., Wakulicz-Deja, A. (eds.) Man-Machine Interactions, Part XI. AISC, vol. 59, pp. 637–646. Springer, Heidelberg (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Szkodny, T. (2011). The Basic Component of Computational Intelligence for KUKA KR C3 Robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-25486-4_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
eBook Packages: Computer ScienceComputer Science (R0)