Inverse Kinematics Overview(contd) PUMa-6R decoupled(Arm+ Wrist) onsite b A、H4 Y7 FIGURE 43. Coordinate frames of a puma robot
Inverse Kinematics • Overview (cont'd) - PUMA – 6R decoupled (Arm + Wrist)
Inverse Kinematics Overview(contd) Canada Arm 2-7R(Off-pitch Joints Pitch joints) 3 parallel pitch joints off-pitch Joints
Inverse Kinematics • Overview (cont'd) - Canada Arm 2 – 7R (Off-pitch Joints + Pitch joints) 3 parallel pitch joints 4 off-pitch joints
Inverse Kinematics Overview(contd) Scope of this course- Decoupled manipulators Have Special architecture that allows the decoupling of position problem from orientation problem. e.g. PUMA analytical IKP solution available
Inverse Kinematics • Overview (cont'd) Scope of this course – Decoupled manipulators - Have Special architecture that allows the decoupling of position problem from orientation problem. e.g. PUMA - Analytical IKP solution available
nⅴ erse Kinematics 6-R Decoupled manipulator de 0 03 e P(a,g, z) Arm(Position) Wrist (Orientation) C. wrist centre
Inverse Kinematics • 6-R Decoupled Manipulator Arm (Position) Wrist (Orientation) C: wrist centre
nⅴ erse Kinematics 6-R Decoupled manipulator Position problem a+Qia2+Q1Q2a3+Q1Q2Q3a4=c (4.16) a2+Q2a+Q2Q3a4=Qf(c-al Recall ai=Qibi Q2(b2+Q3b3+Q3Q4b4)=Q1c-b1 eq(4.3d 0 a4三QAb4三0≡be→Q2Q4b4≡b2Qe≡b4ul Q2(b2+Q3b3 +b4u3)=Q1c-bI (417)
Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem Recall ai =Qibi - eq(4.3d)