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ROBOT
KINEMATICS
“Forward and Inverse Kinematics”
“Differential Motions”
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Inverse Kinematics Solution
Inverse Kinematics
Numerical Analytic
Algebraic Geometric
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Geometrical Approach
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Geometrical Approach
¡1 l12 + c2 ¡ l22
® = cos
b = x ¡ l3 cos µ 2l1 c
a = y ¡ l3 sin µ ¡1 l12 + l22 ¡ c2
¯ = cos
a 2l1 l2
Á = tan¡1
b
where, c = a2 + b2
y ¡ l3 sin µ
= tan¡1
x ¡ l3 cos µ µ1 = Á § ®; µ2 = §(¯ ¡ ¼); µ3 = µ ¡ µ1 ¡ µ2
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Differential Motions
The end effector’s position can be determined by:
x = ½ cos µ; y = ½ sin µ
trajectory The time derivative of the position yields
dx @x d½ @x dµ
= +
dt @½ dt @µ dt
dy @y d½ @y dµ
= +
dt @½ dt @µ dt
Therefore,
x_ cos µ ¡½ sin µ ½_
=
y_ sin µ ½ cos µ µ_
r = (x; y)T
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Differential Motions
xB = l1 cos µ1 + l2 cos(µ1 + µ2 )
yB = l1 sin µ1 + l2 sin(µ1 + µ2 )
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Jacobian
• Jacobian is a representation of the geometry of the elements of a
mechanism in time.
• Suppose, a set of equations Yi in terms of a set of variables xj
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Jacobian
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Jacobian
Thus,
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Jacobian
Thus the equation can be rewritten as
trajectory
And from the previous relation
where,
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Jacobian
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Jacobian
The joint position
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Jacobian
The inverse Jacobian
where,
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Jacobian
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Singularity
There is no solution for the inverse kinematics if
where,
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Singularity
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