Abstract
In this paper the solution algorithm of inverse kinematics problem for KUKA KRC3 robots will be presented. Creating of this algorithm is fundamental problem of future computational intelligence for these robots. The problem of computing the joint variables corresponding a specified location of end-effector is called inverse kinematics problem. This algorithm was derived and implemented into the controller of the KUKA KRC3 robot. It allowed controlling these robots by using the smart camera NI 1742, 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 the camera) and pick it up. The controllers of these robots have software fault, which prevents the correct cooperation with cameras. The fault was eliminated with the use of solving inverse kinematics problem, which will be presented in the this paper.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Jezierski, E.: Dynamics and Control of Robots. Wydawnictwo Naukowo-Techniczne, Warsaw (2006) (in Polish)
Kmiecik, M.: Solution Algorithm of Inverse Kinematics Problem for KUKA KRC3 ROBOT. M.Sc. Dissertation. Silesian University of Technology, Gliwice, Poland (2009)
Kozlowski, K., Dutkiewicz, P.: Modeling and Control of Robots. Wydawnictwo Naukowe PWN, Warsaw (2003)
KUKARoboter: Technical Documentation of KUKA KR3 Robot: Operation Handbook (2007)
Malek, D.: The External Communication of KUKA KRC3 Robot Controller. M.Sc. Dissertation. Silesian University of Technology, Gliwice, Poland (2009)
Paul, R.: Robot Manipulators: Mathematics Programming and Control. The MIT Press, Cambridge (2009)
Szkodny, T.: Modeling and Simulation of Industrial Robot Manipulator Motion. Silesian University of Technology, Gliwice (2004)
Szkodny, T.: Basic component of computational intelligence for IRB-1400 robots. In: Cyran, K., Kozielski, S., Peters, J., StaĆczyk, U., Wakulicz-Deja, A. (eds.) Man-Machine Interactions. Advances in Intelligent and Soft Computing, vol. 59, pp. 637â646. Springer, Heidelberg (2009)
Szkodny, T.: Kinematics of Industrial Robots. Silesian University of Technology, Gliwice (2009)
Szkodny, T.: Foundation of Robotics Problems Set. Silesian University of Technology, Gliwice (2010)
Szkodny, T.: Kinematyka robota KUKA KRC3. In: Problemy Robotyki, vol. 2, pp. 357â368. Oficyna Wydawnicza Politechniki Warszawskiej, Warsaw (2010)
Tadeusiewicz, R.: Vision Systems of Industrial Robots. Wydawnictwo Naukowo-Techniczne, Warsaw (1992) (in Polish)
WÄgrzyn, S.: Podstawy Automatyki. Wydawnictwo Naukowo-Techniczne, Warsaw (1978)
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., Mikulski, M.A. (2011). Solution Algorithm of Inverse Kinematics Problem for Kuka KRC3 Robots. In: CzachĂłrski, T., Kozielski, S., StaĆczyk, U. (eds) Man-Machine Interactions 2. Advances in Intelligent and Soft Computing, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23169-8_8
Download citation
DOI: https://doi.org/10.1007/978-3-642-23169-8_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23168-1
Online ISBN: 978-3-642-23169-8
eBook Packages: EngineeringEngineering (R0)