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f (θ ) = BTT = N0T
Inverse Kinematics
θ = f −1 ( BTT ) = f −1 ( N0T )
0
Given : PUMA 560 - 6 DOF, 6T
Solve: θ1 Lθ 6
• Existence of Solutions
• Multiple Solutions
• Method of solutions
– Numerical solutions
0
• For a solution to exist, N T must be in the workspace of the manipulator
• Workspace - Definitions
– Dexterous Workspace (DW): The subset of space in which the robot end
effector can reach all orientation.
orientation
– Reachable Workspace (RW): The subset of space in which the robot end
effector can reach in at least 1 orientation
DW ⊂ RW
Reachable
Workspace
Dexterous
Workspace
Reachable
Workspace
NO Dexterous
Workspace
Reachable
Workspace
&
Dexterous
Workspace
Number of solution: 2
(elbow up/down)
Number of solution: ∞
Self Motion - The robot can be
moved without moving the the end
effector from the goal
• Solution Strategies
Robot - 6 DOF
Single Series Chain
Revolute & Prismatic Joints
c B
a
A C
b
sin A sin B sin C
= =
a b c
a 2 = b 2 + c 2 − 2bc cos A
• Sum of Angles
sin (θ1 + θ 2 ) = s12 = c1s2 + s1c2
cos(θ1 + θ 2 ) = c12 = c1c2 − s1s2
c1 − s1 0 0
cθ i − sθ i 0 ai −1 s1 c1
0 0 0
i −1
sθ cα c θ i c α i −1 − sα i −1 − sα d 1T =
iT =
i i −1 i −1 i
0 0 1 0
sθ i sαi −1 cθ i sαi −1 cαi −1 cαi −1d
0 0 0 1
0 0 0 1
c 2 − s 2 0 L1
s2
1 c 2 0 0
2T =
0 0 1 0
0 0 0 1
c1 − s3 0 L 2
s3
2 c3 0 0
3T =
0 0 1 0
0 0 0 1
c1c 2c3 − c1s 2 s 3 − s1s 2c 3 − s1c 2 s 3 − c1c 2 s 3 − c1s 2c 3 + s1s 2 s 3 − s1c 2c 3 0 c1( L 2 c 2 + L1) − s1s 2 L 2
B 0 0 1 2
s1cc 3 − s1s 2 s 3 + c1s 2c 3 + c1c 2 s 3 − s1c 2 s 3 − s1s 2c 3 − c1s 2 s 3 + c1c 2c 3 0 s1( L 2 c 2 + L1) + c1s 2 L 2
W T = 3T = T T
1 2 3T =
0 0 1 0
0 0 0 1
• Given:
– Direct Kinematics: The homogenous transformation from the base to the
wrist WBT
– Goal Point Definition: For a planar manipulator, specifying the goal can be
accomplished by specifying three parameters: The position of the wrist in
space ( x, y ) and the orientation of link 3 in the plane relative to the X̂ axis
(φ )
• Problem:
What are the joint angles ( θ1 ,θ 2 ,θ 3 ) as a function of the wrist position and
orientation ( x, y , φ )
• Solution:
• The goal in terms of position and orientation of the wrist expressed in terms of
the homogeneous transformation is defined as follows
B
T
W Goal = 03T
• A set of four nonlinear equations which must be solved for θ1 , θ 2 , θ 3
cφ = c123
sφ = s123
x = l1c1 + l2c12
y = l1s1 + l2 s12
• Solving for θ 2
• If we square x and y add them while making use of c12 = c1c2 − s1s2 ;s12 = c1s2 + s1c2
we obtain
x 2 + y 2 − l12 − l22
c2 =
2l1l2
• Note: In order for a solution to exist, the right hand side must have a value
between -1 and 1. Physically if this constraints is not satisfied, then the goal
point is too far away for the manipulator to reach.
2
s2 = ± 1 − c2
• Note: The chose of the sign corresponds to the multiple solutions in which we
can choose the “elbow-up” or the “elbow-down” solution
2
x 2 + y 2 − l12 − l22
θ 2 = Atan2(s2 , c 2 ) = A tan 2( ± 1 − c , 2 )
2l1l2
• Solving for θ1
• For solving θ1 we rewrite the the original nonlinear equations using a change of
variables as follows
x = l1c1 + l2c12
y = l1s1 + l2 s12 k2
x = k1c1 + k2 s1
y = k1s1 + k2c1 l2 c2
• where
k1 = l1 + l2c2 k1
k2 = l2 s2
r = + k12 + k22
γ = A tan 2(k2 , k1 )
k2
• Then
k1 = r cos γ
r
k2 = r sin γ l2 c2
γ
k1
• or x
= cos(γ + θ1 )
r
y
= sin(γ + θ1 )
r
(1) When a choice of a sign is made in the solution of θ 2 above, it will cause a
sign change in k 2 thus affecting θ1
• Solving for θ3
cφ = c123
sφ = s123
θ1 + θ 2 + θ 3 = A tan 2( sφ , cφ ) = φ
θ 3 = φ − θ1 + θ 2
• Note: It is typical with manipulators that have two or more links moving in a
plane that in the course of a solution, expressions for sum of joint angles arise