Serial Robot Examples: Inverse Kinematics

Example 1

i / ai / ai / di / qi
1 / l1 / 0 / 0 / q1*
2 / l2 / 0 / 0 / q2*
3 / l3 / 0 / 0 / q3*

,,

with

, etc.

Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:

Wrist is at origin of frame 2, first 2 dof position, 3rd gives orientation.


Example 2

i / ai / ai / di / qi
1 / 0 / 90 / d1 / q1*
2 / 0 / 0 / d2* / 0
3 / 0 / 0 / d3 / q3*

Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:


Example 3

i / ai / ai / di / qi
1 / 0 / 90 / d1 / q1*
2 / a2 / 0 / 0 / q2*
3 / a3 / 0 / d3 / q3*

with

Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:


Example 4 : Spherical Wrist

i / ai / ai / di / qi
1 / 0 / 90 / d1 / q1*
2 / 0 / 90 / 0 / q2*
3 / 0 / 0 / d3 / q3*


Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:


Example 5

i / ai / ai / di / qi
1 / 0 / 0 / d1 / q1*
2 / 0 / 90 / d2* / 0
3 / 0 / 0 / d3* / 0

,,

Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:

Wrist is at origin of frame 3, first 3 dof position (this robot positions in 3 space only).


Example 6

i / ai / ai / di / qi
1 / 0 / 0 / d1 / q1*
2 / 0 / 90 / d2* / 0
3 / 0 / 0 / d3* / 0
4 / 0 / -90 / 0 / q4*
5 / 0 / 90 / 0 / q5*
6 / 0 / 0 / d6 / q6*


Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:


Example 7

i / ai / ai / di / qi
1 / 0 / 90 / d1 / q1*
2 / 0 / -90 / d2 / q2*
3 / 0 / 0 / d3* / 0
4 / 0 / 90 / 0 / q4*
5 / 0 / -90 / 0 / q5*
6 / 0 / 0 / d6 / q6*

Inverse Kinematics: Given a consistent and desired pose, solve the inverse kinematics:

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