EE 570: Laboratory 2
3D Visualization and Inverse Kinematics
Due: Mo 04/13/2009
Write a program to compute the inverse (position and velocity)
kinematics and display the resulting manipulator configuration in
three dimensions. The program should take as inputs:
- the D-H Table;
- Homogeneous Transformation matrix representing desired
end-effector position and orientation; and
- corresponding end-effector linear and angular velocities,
v and ω.
The program should:
- compute joint positions and velocities, q and dq/dt,
that achieve desired end-effector position and velocity;
- display desired end-effector position and orientation
(with ability to turn on/off);
- display manipulator configurations that reach desired
end-effector position and orientation (with ability to
turn on/off);
Manipulators for which inverse kinematics and
visualization should work:
- Stanford
- SCARA
- PUMA 260
- Three-Link Planar RRR
- Two-Link Planar RP
Test your inverse kinematics using the following:
- Stanford: o6 = [4; 4; 2],
R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1],
v6 = ω6 = [1; -1; 0.5].
- SCARA: o4 = [500; 500; 250],
R4 = [0, -1, 0; -1, 0, 0; 0, 0, -1],
v4 = [100; -100; 50],
ω4 = [0; 0; 0.5].
- PUMA 260: o6 = [10; 10; 5],
R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1],
v6 = ω6 = [1; -1; 0.5].
- Three-Link Planar RRR: o3 = [1; 1; 0],
R3 = [0, 1, 0; -1, 0, 0; 0, 0, 1],
v3 = [1; -1; 0],
ω3 = [0; 0; 0.5].
- Two-Link Planar RP: o2 = [0; 1; 0],
R2 = [-1, 0, 0; 0, 0, 1; 0, 1, 0],
v2 = [-1; 1; 0],
ω2 = [0; 0; ?].