Introduction to Robotics

Solution No. 3
1. Approach one: Geometric approach
To project the robots onto the plane- Xˆ 0Yˆ0 , we will see a line

Yˆ0
(Top view along Zˆ 0,1 ), we have
d d
(x , y )
x d  c1r1
r1
y d  s1r1
θ1
X̂ 0 r1  ( x d ) 2  ( y d ) 2
For r1  0, θ1  Atan2(y d , x d )
To project the robots onto the plane- Xˆ 1Zˆ0 (Side view along Ẑ 2,3 ), we will see

R 2  (r1  L1 )2  ( z d ) 2
R 2  L22  L23
c3  , s3   1  c32
2 L2 L3
θ3  Atan2(s3 , c3 )
R 2  L22  L23
cα  , sα   1  (cα ) 2
2 L2 R
α  Atan2( sα, cα )
β  Atan2(z d , r1  L1 )
θ2  β  α  Atan2(z d , r1  L1 )  Atan2( sα, cα )
 Approach two: Since only desired position is given (no orientation). In this case, there may be
up to four solutions:

Assume that tip at the frame 3 as 3 P

tip  L3 X̂ 3 , then using relationship (either algebric
or geometric approach)

 x d   Px  c1 ( L1  L2 c2  L3c23 )
 
Ptip   y d    Py    s1 ( L1  L2 c2  L3c23 )  ,
0 First,
   
 z d   Pz   L2 s2  L3 s23 
 
yd xd
s1  , c1  ,
L1  L2 c2  L3c23 L1  L2 c2  L3c23

So, 1  atan2( y d , x d ), or 1  atan2(-y d , x d ),

since the sign of the term “ L1  L2 c2  L3c23 ” may be + or - . Next, define

 xd
  L1 if c1  0
c
   1d
 y  L if s  0

 s1
1 1

And we have:

L2 c2  L3c23  
L2 s2  L3 s23  z d
Square and add these two equations to get:
L22  L23  2 L2 L3c3   2  ( z d ) 2

 2  ( z d ) 2  L22  L23
Then, c3 
2 L2 L3

s3   1  c32 ;  3  Anta2 (s 3 .c3 )

L2 c2  L3c23  L2 c2  L3 ( c2 c3  s2 s3 )  
L2 s2  L3 s23  L2 c2  L3 ( s2 c3  c2 s3 )  z d
Or, we can have L2c2c2  L3c2c2c3  L3c2 s2 s3  c2

L2 s2 s2  L3s2 s2 c3  L3s2 c2 s3  z d s2

So, c2  z d s2  L2  L3c3

Let    cos  , z d   sin ,
where    2  ( z d ) 2 ,  Atan2(z d ,  )
L2  L3C3 d
We have cos c2  sins2  
 
d d2
cos(   2 )  , sin(   2 )   1 
 2

d 2 d Finally, the solution for  2 may be written as

(   2 )  Atan2(  1  2 , )
 

d2 d
 2  Atan2 ( z d ,  )  Atan2(  1  , ).
2

2. Find: the set of unattainable orientations. (intiutive approach) Find out the
workspace of the given robot. Starting with joint 3, spinining it, frame 3 can
attin any orientation about its ẑ3 axis, pointing upward. The problem thus
reduce to finding restrictions on the pointing diection of ẑ3 .

Next spinning about joint 2, ẑ3 can attin any orientaiton on the surface of a cone
of apex angle 2 .

Spinning this”cone” about joint 1, ẑ3 can attainany orientation except in a cone
shaped zone of apex angle 3600 -4 :
 3. Approach one: geometric approach:
First, based on the given parameters and frame assignments, to find out
excatly where is the tip location when

 0 p4ORG  x 
0 
0
P4ORG   p4ORG  y   ?
θ3 900 ,θ1 θ2 θ4  0
 0 p4ORG  z 
 

Then, determine the joint variable according to the final tip position, that is
θ1  θ2  θ4  0 and θ3  900 or 2700 . ( θ3 needs to rotate 180 0 from initial position).

Approach two: Since a1  0 , we use Pieper’s method with r  k3

3  3  2 f3  f3  0

0.707s3  0.707  0  s3  1 3  900

Continuouing on yileds …

Θ  θ1 , θ2 , θ3 , θ4   0, 0, 900 , 0 