EE 570: Homework 5
Inverse Kinematics
- Find the inverse kinematics for the manipulators in the class handout
(i.e., Stanford, PUMA 260, Adept Cobra s800, planar RRR, planar RP)
and that of problem 3-8.
- Test your inverse kinematics using the following desired end-effector
position and orientation (note you can check these by taking your joint
variables and calculating the forward kinematics to see if the end-effector
is in the right position and orientation):
- Stanford: o6 = [4; 4; 2],
R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1]
- SCARA: o4 = [500; 500; 250],
R4 = [0, -1, 0; -1, 0, 0; 0, 0, -1]
- PUMA 260: o6 = [10; 10; 5],
R6 = [0, -1, 0; -1, 0, 0; 0, 0, -1]
- Three-Link Planar RRR: o3 = [1; 1; 0],
R3 = [0, 1, 0; -1, 0, 0; 0, 0, 1]
- Two-Link Planar RP: o2 = [0; 1; 0],
R2 = [-1, 0, 0; 0, 0, 1; 0, 1, 0]
- Articulated Manipulator from problem 3-8:
o6 = [-0.75; -0.75; 0.5],
R6 = [-1, 0, 0; 0, 1, 0; 0, 0, -1]
where we'll use d1 = 1m, a2 = 0.7m,
d4 = 0.7m, d6 = 0.3
- Turn in your work, resulting equations and numerical values for
the test cases.