Task-oriented approaches to the inverse kinematics problem for a reclaimer excavating and transporting raw material

Authors: Hong, Keum-Shik; Choi, Chintae

Source: Advanced Robotics, Volume 14, Number 3, 2000 , pp. 185-204(20)

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Abstract:

The inverse kinematics problem of the reclaimer that excavates and transports raw materials in a raw yard is investigated. Link coordinates are introduced by the Denavit-Hartenberg representation. The middle bucket, among the buckets which are in contact with the raw material pile, is treated as the end-effector of a reclaimer. Two task-oriented approaches are investigated. The first approach assumes the complete removal of a pile via a level plan on the pile. In this case, the end-effector is assumed to be a particle moving in the three-dimensional (3D) space. A closedform solution is provided. The second approach assumes the reclamation of an arbitrary pile. The end-effector is regarded as a rigid body which requires both position and orientation information. Because there is no solution for the second approach in general, an approximate solution is provided by exploiting a geometric constraint. The 3D information near the excavation point is approximated as a plane and the orientation of the end-effector is given in the normal direction of the plane.

Keywords: RECLAIMER; INVERSE KINEMATICS; SERIAL MANIPULATOR; STEEL PROCESS INDUSTRY; NORMAL EQUATION

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855300741528

Publication date: 2000-11-01