Open AccessPractical Inverse Kinematic Solution Based on Calibrated Parameters Using in Engineering
Author(s) -
Guosong Shi,
Shunyi Zhao,
Tianyu Lin
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1449/1/012128
Subject(s) - inverse kinematics , robot , economic shortage , kinematics , computer science , inverse , control engineering , mathematical optimization , control theory (sociology) , simulation , mathematics , artificial intelligence , engineering , control (management) , geometry , linguistics , philosophy , physics , classical mechanics , government (linguistics)
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.