230 1. 서 론 로봇 머니퓰레이터의 운동제어 및 힘제어를 효과적으로 수행하기 위하여 로봇 기구학 (kinematics) 의 해가 필요하다 . 로봇 기구학은 관절변수 (joint variable) q 와 말단장치 (end effector) 의 위치 (position) 및 방향(orientation) x 의 관계를 구하는 것이다 . 로봇 기구학은 다시 , 주어진 관절변수 q 로부터 말단장치의 위치 및 방향 x 를 구하는 순기구학 (forward kinematics) 과 , 주어진 말단장치의 위치 및 방향 x 로부터 관절변수 q 를 구하는 역기구학 (inverse kinematics) 으로 나누어 생각할 수 있다. 본 논문에서 벡터는 굵은 로마체 소문자로 표기하고 , 행 렬은 대문자로 표기한다 . 본 논문에서 벡터는 모두 열벡터 로 간주한다 . 로봇 머니퓰레이터의 순기구학 문제는 함수형태로 () = x fq (1) 로 표시될 수 있고, 순기구학 문제를 푼다는 것은 함수 f 를 구하는 것이다 . 여기서 [, ,, , , ] T xyz α βγ = x , 1 2 [ , , , ] T n q q q = q " 이고, , , x yz 는 고정된 기준좌표계에 대한 말단장치의 위치인 Cartesian 좌표를 , , , α βγ 는 기준 좌표계에 대한 말단장치의 방향을 나타내는 변수이다 . , , α βγ 는 말단장치의 방향을 표시하는 방법에 따라 여러 가지 형태로 정의될 수 있다 . 그리고 1 2 , , , n q q q " 은 n개 의 작동기 ( 즉 모터) 의 회전각 또는 선형변위를 나타낸다 . 로봇의 기하학적 형상에 따라 함수 1 2 6 () [ ( ), ( ), , ( )] T f f f = fq q q q " 는 일반적으로 매우 비 선형적으로 표현된다 . Denavit 과 Hartenberg [1] 는 두 좌표계 사이의 좌표변환을 4 ×4 동차변환(homogeneous transformation) 행렬로 표현하였고, Paul 등 [2] 은 이를 직렬 연결 머니퓰레이터에 적용하여 체계적으로 비선형함수 f Received : Apr. 14. 2015; Reviewed : May 11. 2015; Accepted : May 11. 2015 ※ This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (grant number 2013R1A1A2062374). † Corresponding author: Mechanical Engineering, Konkuk University, Gwangjin-gu, Seoul, Korea ([email protected]) Journal of Korea Robotics Society (2015) 10(4):230-244 http://dx.doi.org/10.7746/jkros.2015.10.4.230 ISSN: 1975-6291 / eISSN: 2287-3961 역미분기구학의 해 공간 Solution Space of Inverse Differential Kinematics 강 철 구 † Chul-Goo Kang † Abstract Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot. Keywords: Differential kinematics, Robot manipulator, Jacobian, Range, Nullspace, Moore-Penrose pseudoinverse Copyright KROS ⓒ
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230 로봇학회 논문지 제10권 제4호 (2015. 12)
1. 서 론 로봇 머니퓰레이터의 운동제어 및 힘제어를 효과적으로
수행하기 위하여 로봇 기구학(kinematics)의 해가 필요하다.
로봇 기구학은 관절변수(joint variable) q 와 말단장치(end
effector)의 위치(position) 및 방향(orientation) x 의 관계를
구하는 것이다. 로봇 기구학은 다시, 주어진 관절변수 q
로부터 말단장치의 위치 및 방향 x 를 구하는 순기구학
(forward kinematics)과, 주어진 말단장치의 위치 및 방향 x로부터 관절변수 q 를 구하는 역기구학(inverse kinematics)
으로 나누어 생각할 수 있다.
본 논문에서 벡터는 굵은 로마체 소문자로 표기하고, 행
렬은 대문자로 표기한다. 본 논문에서 벡터는 모두 열벡터
로 간주한다.
로봇 머니퓰레이터의 순기구학 문제는 함수형태로
( )=x f q (1)
로 표시될 수 있고, 순기구학 문제를 푼다는 것은 함수 f
를 구하는 것이다. 여기서 [ , , , , , ]Tx y z α β γ=x ,
1 2[ , , , ]Tnq q q=q 이고, , ,x y z 는 고정된 기준좌표계에
대한 말단장치의 위치인 Cartesian 좌표를, , ,α β γ 는 기준
좌표계에 대한 말단장치의 방향을 나타내는 변수이다.
, ,α β γ 는 말단장치의 방향을 표시하는 방법에 따라 여러
가지 형태로 정의될 수 있다. 그리고 1 2, , , nq q q 은 n개
의 작동기(즉 모터)의 회전각 또는 선형변위를 나타낸다.
로봇의 기하학적 형상에 따라 함수
1 2 6( ) [ ( ), ( ), , ( )]Tf f f=f q q q q 는 일반적으로 매우 비
선형적으로 표현된다. Denavit과 Hartenberg[1]는 두 좌표계
사이의 좌표변환을 4×4 동차변환(homogeneous
transformation) 행렬로 표현하였고, Paul 등[2]은 이를 직렬
연결 머니퓰레이터에 적용하여 체계적으로 비선형함수 f
Received : Apr. 14. 2015; Reviewed : May 11. 2015; Accepted : May 11. 2015 ※ This research was supported by Basic Science Research Program through the
National Research Foundation of Korea (NRF) funded by the Ministry ofEducation (grant number 2013R1A1A2062374).
Journal of Korea Robotics Society (2015) 10(4):230-244http://dx.doi.org/10.7746/jkros.2015.10.4.230 ISSN: 1975-6291 / eISSN: 2287-3961
역미분기구학의 해 공간
Solution Space of Inverse Differential Kinematics
강 철 구†
Chul-Goo Kang†
Abstract Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.
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