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:

  1. the D-H Table;
  2. Homogeneous Transformation matrix representing desired end-effector position and orientation; and
  3. corresponding end-effector linear and angular velocities, v and ω.

The program should:

  1. compute joint positions and velocities, q and dq/dt, that achieve desired end-effector position and velocity;
  2. display desired end-effector position and orientation (with ability to turn on/off);
  3. 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:

  1. Stanford
  2. SCARA
  3. PUMA 260
  4. Three-Link Planar RRR
  5. Two-Link Planar RP

Test your inverse kinematics using the following:

  1. Stanford: o6 = [4; 4; 2], R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1], v6 = ω6 = [1; -1; 0.5].
  2. SCARA: o4 = [500; 500; 250], R4 = [0, -1, 0; -1, 0, 0; 0, 0, -1], v4 = [100; -100; 50], ω4 = [0; 0; 0.5].
  3. PUMA 260: o6 = [10; 10; 5], R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1], v6 = ω6 = [1; -1; 0.5].
  4. 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].
  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; ?].