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Inverse kinematics of a reclaimer: redundancy and solution

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5 Author(s)
Chintae Choi ; Process Autom. Team, RIST, Pohang, South Korea ; Kwangwoo Lee ; Kitae Shin ; Hyunsik Ahn
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The huge reclaimers in the raw ore yard are used to dig ore and transfer it to the blast furnaces. When the buckets of the reclaimer land on the stockpile, a method for solving inverse kinematics of a reclaimer is presented in this paper. To detect the shape of the pile, a 3-dimensional range finder which consists of a 2-dimensional scanner and an additional joint is developed with laser radar concepts. The kinematic configuration of the reclaimer is different from that of the commercial robot. The reclaimer has a redundancy due to the rotating buckets at the end of the its boom. A constraint equation for solving the inverse kinematics of the reclaimer is also derived by the geometrical relationship. A numerical method is used to obtain the joint angle of the reclaimer

Published in:

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on  (Volume:3 )

Date of Conference:

12-15 Oct 1997

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