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INVERSE KINEMATICS
RHINO XR3 ROBOT
INVERSE KINEMATICS ALGORITHM
MATLAB PROGRAM
SPECIFICATIONS
RESULTS
CONCLUSION
Kinematics → Motion of (rigid) links without considering force and torques.
→ Study of “geometry” of motion.
Inverse Kinematics Problem: Given the constant D-H link parameters and the
position and orientation of the end-effector ({n}) with respect to the fixed frame
{0}, find the joint variables.
The five axes of motion include rotation at the wrist, shoulder, and elbow for
positioning the hand; then, flex and rotation motion in the wrist for orientation of
the gripper.
The motion is transferred from the axis drive motors to the joint by chain, and
lever linkages. The rate of rotation of the axis drive motor is reduced by gears in
the motor and the linkage between the motor and the joint.
The axis drive motors are dc servo devices with optical encoders attached to
determine joint angles and arm position.
A sixth servo drive motor and associated linkage to operate the gripper are
mounted in the wrist assembly. The gripper servo drive does not cause motion in
any arm axes.
……RHINO XR3 ROBOT
……RHINO XR3 ROBOT
INVERSE KINEMATICS ALGORITHM
The arm matrix of Rhino XR3 robot can be written as--
Elbow angle,q3
q3= arc cos((||b||2 –a22-a32)/2a2a3)
Shoulder angle, q2
q2=atan2[{(a2+a3c3)b2-a3s3b1}, {(a2+a3c3)b1+a3s3}]
d1=10.25 inch
a2=9 inch
a3=9 inch
a4=0.375 inch
d5=6.25 inch
RESULTS
For different robots different algorithms have to be
formed for solving the inverse kinematics problem.