On-line coordinate transformation for a 3 DOF articulated robot: incremental unit computation method

Presents a new method for solving the inverse kinematics of a 3 DOF articulated robot. The 3 DOF robot can be represented by two kinds of planar robot: a polar robot and a two-link planar robot. The proposed method defines incremental units in joint and Cartesian spaces which represent the position resolution in each space. Based on these units, an incremental computation of the digital differential analyser integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is easily realized through a simple lookup table. By using the above new concepts, a coordinate transformer based on the reference-pulse technique is suggested. An experiment for sensor-based motion control is performed to show the effectiveness of the proposed coordinate transformer.<>