Practical Inverse Kinematic Solution Based on Calibrated Parameters Using in Engineering
Abstract
Inverse kinematic (IK) problem is an essential problem in industrial robot control. In some high accuracy projects, the solution needs the robot act based on online sampled data rather than the pre-teached actions. It is necessary to reduce the absolute positioning error to complete these challenging projects. The IK solution is on the way there. This article simply introduces the standard IK solution based on robot KUKA R2700, points out the shortage of standard IK solution in enhancing the absolute positioning accuracy and develops an practical IK solution, PIKFCP, which is necessary in some measures.
- Publication:
-
Journal of Physics Conference Series
- Pub Date:
- January 2020
- DOI:
- 10.1088/1742-6596/1449/1/012128
- Bibcode:
- 2020JPhCS1449a2128S