Inverse Kinematics

Andualem T

Bahirdar Univeristy
1 11/17/2015
Inverse Kinematics
 given the pose of the end effector, find the joint variables that
produce the end effector pose
 for a 6-joint robot, given
 R 0
o 0

T 6 
0 6 6

0 1

find
q1 , q2 , q3 , q4 , q5 , q6

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RPP + Spherical Wrist

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RPP + Spherical Wrist
 solving for the joint variables directly is hard

 r11 r12 r13 d x 

r r r d 
0 3  21 y
T 6  T 3T 6 
0 22 23

r31 r32 r33 d z 

 
0 0 0 1

r11  c1c4c5c6  c1s4 s6  s1s5c6


d z  s4 s5 d 6  d1  d 2

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Kinematic Decoupling
 for 6-joint robots where the last 3 joints intersecting at a
point (e.g., last 3 joints are spherical wrist) there is a simpler
way to solve the inverse kinematics problem
1. use the intersection point (wrist center) to solve for the first 3
joint variables
 inverse position kinematics
2. use the end-effector pose to solve for the last 3 joint variables
 inverse orientation kinematics

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RPP Cylindrical Manipulator

d3*
d2* oc

d1

yc
xc

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RRP Spherical Manipulator

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Inverse Kinematics

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Articulated robots

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