Chapter 4.

Inverse
Manipulator Kinematics
 Chapter 4. Robot Inverse
Kinematics
4.1 Workspace
4.2 Sovability
4.3 Planar examples
4.4 Pieper’s solution for 6-DOF robot
4.5 Spatial examples

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 1. Definition
 Problem:
Given output position and orientation.
Find (calculate) joint angles (displacement).
This is a real control problem in Robotics.
u Inverse +
-
GC Robot 
Kinematics

Sensor

Primitive controller

Design Gc to eliminate  and 

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 Definition
 Workspace
Volume of space that the end-effector of the
manipulator can reach.
 Reachable workspace (A) : position
 Dexterous workspace (B) : position+orientation
(A > B)

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 Definition
 Multiple solutions
For the given output, there are multiple configurations that
satisfy the given output.

In robot design, only one of those configuration is chosen

and the corresponding inverse solution should be used in
control.

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 Definition
 Inverse solution of Puma robot
 4 different configurations for the wrist position two different
orientation configurations for each. Therefore, 8 Inverse
Solutions for 06T.
 The more nonzero links there are, the more ways there will be
to reach a certain goal (many inverse solution).
 If all ai  0 , maximum 16 solutions exist.

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 4.2 Method of Solution
 Method of solution
Can you obtain for the given manipulator
position?
• Unique solution
• Multiple solution
• Numerical solution
 Inverse Kinematics
- Algebraic Method
- Geometric Method

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 Inverse Manipulator Kinematics

Elbow up c1 2  s12 0 l1c1  l2c12 

2 s c12 0 l1s1  l2 s12 
3T 
0  1 2 
 0 0 1 0 
0
pBORG 2  
l2  0 0 0 1 
l1
Elbow down
1
X

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 Inverse Manipulator Kinematics

 Given x&y , find 1 &  2

x 2  y 2  l12  l22
x  l1c1  l2c1 2 cos 2  a
2l1l2
y  l1s1  l2 s1 2
(cos , 0    180 )
x 2  l12c12  l22c12
2
 2l1l2c1c12
known : l1 , l2 , x, y
y 2  l12 s12  l22 s12
2
 2l1l2 s1s12
sin  2   1  cos 2  2  b
x 2 +y 2  l12  l22  2l1l2 cos 2
 2  A tan 2(b, a)

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Inverse Manipulator Kinematics

x  l1c1  l2 (c1c2  s1s2 ) Cramer’s rule

 (l1  l2c2 )c1  (l2 s2 ) s1 x l2 s2

y l1  l2c2
y  l1s1  l2 ( s1c2  c1s2 ) c1 
l1  l2c2 l2 s2
 (l2 s2 )c1  (l1  l2c2 ) s1 l2 s2 l1  l2c2

l1  l2c2 x
l2 s2 y
1  A tan 2( s1, c1 ) s1 
l1  l2c2 l2 s2
l2 s2 l1  l2c2

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