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Chapter 4

The document discusses inverse kinematics, focusing on solving for joint angles in manipulators with varying degrees of freedom (DOF). It covers concepts such as workspace, multiple solutions, and the methods for solving nonlinear equations, including closed-form and numerical solutions. Additionally, it addresses repeatability and accuracy in industrial robots when returning to taught points and the implications for computed points in Cartesian terms.

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mohamed.ahmed260
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5 views20 pages

Chapter 4

The document discusses inverse kinematics, focusing on solving for joint angles in manipulators with varying degrees of freedom (DOF). It covers concepts such as workspace, multiple solutions, and the methods for solving nonlinear equations, including closed-form and numerical solutions. Additionally, it addresses repeatability and accuracy in industrial robots when returning to taught points and the implications for computed points in Cartesian terms.

Uploaded by

mohamed.ahmed260
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Ch.

4
Inverse kinematics

Prof. Dr. Ahmed Badawy


INTRODUCTION

•It is used for Control manipulator

•Solving the problem of finding the required joint angles


to place the tool frame
What about 5DOF,
SOLVABILITY 4DOF, …?

Assume we have 6 DOF manipulator, the number of


kinematic equations are 12? Are they all
independent?

But, how many unknowns for 6 DOF manipulator 6?

6 non-linear equations in 6
unknowns to be solved
Existence of solutions

• Is there a solution?
Q1

• Are there multiple


Q2 solutions?

• Rejecting a solution?
Q3
Workspace

Workspace is that volume of space that the end-effector of


the manipulator can reach.

• volume of space that the robot end-


Dextrous
effector can reach with all
workspace
orientations.

Reachable • volume of space that the robot can


workspace reach in at least one orientation.
Workspace
Multiple solutions

The dashed lines indicate a second


possible configuration in which the
same end-effector position and
orientation are achieved.

The system has to be able to choose one.

A reasonable choice would be the closest solution.


Four solutions of the PUMA 560
Rejecting a Solution

Obstacles reduce
the number of
solutions

In General: the more nonzero link parameters there


are, the more ways there will be to reach a certain
goal.
Method of solution

Unlike linear equations, there are no general algorithms that


may be employed to solve a set of nonlinear equations.

Two manipulator solution strategies: closed-form solutions


and numerical solutions.

Our
much
Interest
slower
Example 1

Analyze IK for the polar


manipulator shown

0
2 T  Rot ( z,  ) Rot ( x, 90)Trans(0,0, d )
 c 0  s ds 
s 0 c dc 
0
T    
0 0 
2
1 0
 
0 0 0 1 
Example 2

Analyze IK for the planar three-link manipulator


REPEATABILITY AND ACCURACY

Many industrial robots move to goal points that have been


taught. A taught point is one that the manipulator is moved
to physically, and then the joint position sensors are read
and the joint angles stored.

When a manufacturer specifies how precisely a


manipulator can return to a taught point, he is specifying
the repeatability of the manipulator.
REPEATABILITY AND ACCURACY

Whenever the goal point is defined in Cartesian terms, IK is then used.


This goal point is called a computed points, where EF never goes.

Which techniques should be


used if a computer vision
system is used to locate a part
that the robot must grasp?

The precision with which a computed point can be attained is called the
accuracy of the manipulator.

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