EE 570: Homework 5

Inverse Kinematics



  1. 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.
  2. 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
  3. Turn in your work, resulting equations and numerical values for the test cases.