Inverse Kinematics of Standford Manipulator using Pieper's Theorem.pptx

Inverse Kinematics of Standford Manipulator using Pieper's Theorem

1. Inverse Kinematics of Standford Manipulator using Pieper’s Theorem Presented By: Mian Waqar ul Mulk

2. Given

3. Solution

4. As We Know That is Given which is H. we will first find T03 i.e. inverse position and then inverse orientation T36. To find Ɵ1, Ɵ2 and d3, We Multiply first Three Matrics as below and Compare Last columns of H and T03.   Three Equations and Three Unknowns, By Solving these we get:

5. . T   R.H.S =   Comparing 3 rd columns of Both sides, we get   Considering only 3×3 Matrix Portion of L.H.S and R.H.S

6. In this case  

7. Putting Values from . T, we get: