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.

1 . 서 론
2 . 수학적 예비지식
3 . 말단장치속도가 ()JR에 속할 경우
4 . 말단장치속도가 ()JR에 안속할 경우
5. 검 증
6. 결 론
후 기

• 강철구(Mechanical Engineering, Konkuk University, Korea) | Chul-Goo Kang Corresponding Author