Inverse Robotics Kinematics topic interest.pptx

Inverse Robotics Kinematics topic interest

1. MtE 405 Introduction to Robotics Dr. Tahir Khan e-mail: [email protected]

2. Configuration of the tool refers to: Tool position (d 3x1 ) and orientation R 3x3 {d, R}=W 6x1 is the tool configuration space Tool Orientation Recall R =[ n s a ]

3. Note: a is unit vector F( q n )= e qn / π => a e qn / π

4. TOOL CONFIGURATION VECTOR Let d and R denotes the position and orientation of the tool frame relative to the base frame and let q n represents the roll angle, then: W=

5. Example – SCARA Robot

6. Inverse Kinematics of Three-Axis Planar Articulated Robot

7. T 03 = Shoulder Joint w 1 + w 2 =  

8. Base Joint Toll Roll Angle

9. Inverse Kinematics – SCARA Robot

10. T 04 =

11. Elbow Joint

12. Base Joint

13. Prismatic Joint Tool Roll Angle