The Basic Component of Computational Intelligence for KUKA KR C3 Robot

摘要

In this paper the solution algorithm of inverse kinematics problem for KUKA KR C3 robot is presented. This algorithm may be a basic component of future computational intelligence for theses robots. The problem of computing the joint variables corresponding a specified location of end-effector is called inverse kinematics problem. This algorithm was implemented into the controller of the robot. It allowed controlling these robots by using the vision system, 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 vision system) and pick it up. These robots are equipped with several manipulator which has 6 links joined by revolute joint. First the location of end-effector in relation to the base of the manipulator were described. Next the position workspace of this robot was illustrated. The example of solutions of the inverse kinematics problem and conclusions were presented in the end of this work. In this example arc the multiple solutions for singular configurations of this manipulator.