수직 다관절 로봇의 도식적인 역기구학 해석

As 3D scanner develops, it can be used in measurement. To accomplish complete 3D measurement, the scanner has to view different sides of the target It can be done by moving the scanner and fix It at every measuring point By human, it would take so much time However, by using robot, measuring time can be reduced and the procedure can be automated It is suitable for 6R serial manipulator to do this kind of work In which the scanner should go any position in arbitrary orientation. We did Inverse kinematics analysis by analytical and graphical methods Then, we compared two methods