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    03 Robot Direct and Inverse Kinematics

    Uploaded by

    OmaroMohsen
    The document discusses various kinematic models for different types of robots including RR, RP, RRR, and RPR robots. It provides the direct and inverse kinematic models for determining the position and orientation of the end effector given certain joint angles or vice versa. The models relate the joint variables like link lengths and joint angles to the Cartesian position (x,y) and orientation θ of the end effector.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    03 Robot Direct and Inverse Kinematics

    Uploaded by

    OmaroMohsen
    58 views11 pages
    The document discusses various kinematic models for different types of robots including RR, RP, RRR, and RPR robots. It provides the direct and inverse kinematic models for determining the position and orientation of the end effector given certain joint angles or vice versa. The models relate the joint variables like link lengths and joint angles to the Cartesian position (x,y) and orientation θ of the end effector.

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    robotics session

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    The document discusses various kinematic models for different types of robots including RR, RP, RRR, and RPR robots. It provides the direct and inverse kinematic models for determining the position and orientation of the end effector given certain joint angles or vice versa. The models relate the joint variables like link lengths and joint angles to the Cartesian position (x,y) and orientation θ of the end effector.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    58 views11 pages

    03 Robot Direct and Inverse Kinematics

    Uploaded by

    OmaroMohsen
    The document discusses various kinematic models for different types of robots including RR, RP, RRR, and RPR robots. It provides the direct and inverse kinematic models for determining the position and orientation of the end effector given certain joint angles or vice versa. The models relate the joint variables like link lengths and joint angles to the Cartesian position (x,y) and orientation θ of the end effector.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 11

    Mechanical Engineering

    Part 2: Robotics
    Direct and inverse kinematic models

    1
    kinematic models
    RR robot
    Direct kinematic position Model
    Given:
    l1 , l2 , q1 & q2
    l2
    Find: q2
    a &b
    b
    Solution: l1

    a l1 cos q1 l2 cosq1 q2 q1
    b l sin q l sin q q
    1 1 2 1 2
    a

    2
    kinematic models
    RR robot
    Inverse kinematic position Model
    Given: l1 , l2 , a & b
    Find: q1 & q2
    Solution: r a 2 b 2 l2

    l1 r 2 l2
    2 2
    l
    2
    r 2
    l
    2
    r q2
    cos cos
    1 1 2

    2l1r 2 l1 r b

    1 b
    q1 tan l1
    a q1

    r sin a
    q2 tan
    1

    r cos l1 3
    kinematic models
    RP robot (zero offset)
    Direct kinematic position Model
    Given:
    l1 , q1 & q2

    Find: l1+q2
    a &b b
    Solution:
    q1
    a l1 q2 cos q1
    b l q sin q a
    1 2 1

    4
    kinematic models
    RP robot (zero offset)
    Inverse kinematic position Model
    Given: l1 , a & b
    Find: q1 & q2
    Solution: l1+q2
    b
    1
    q1 tan b
    a

    q2 a 2 b 2 l1 q1

    5
    kinematic models
    q3
    RRR robot l3
    Direct kinematic position Model
    Given: l2
    l1 , l2 , l3 , q1 , q2 & q3
    q2
    b
    Find:
    l1
    a,b &
    q1
    Solution: a

    a l1 cos q1 l2 cosq1 q2 l3 cosq1 q2 q3


    b l sin q l sin q q l sin q q q
    1 1 2 1 2 3 1 2 3

    q1 q2 q3
    6
    kinematic models q3
    l3
    RRR robot
    Inverse kinematic position Model l2
    Given: l1 , l2 , l3 , a, b & q2
    b
    Find: q1 , q2 & q3 l1
    Solution steps: q1
    By using DKPM solution a

    a l1 cos q1 l2 cosq1 q2 l3 cosq1 q2 q3


    b l sin q l sin q q l sin q q q
    1 1 2 1 2 3 1 2 3

    q1 q2 q3

    Then a l3 cos a1 l1 cos q1 l2 cosq1 q2


    b l sin b l sin q l sin q q
    3 1 1 1 2 1 2 7
    kinematic models
    RRR robot
    Inverse kinematic position Model
    Solution: a1 a l3 cos b1 b l3 sin
    q3
    l3
    r a1 b1
    2 2

    l1 r l2
    2 2 2

    1 l1 r l2
    2 2 2

    cos cos
    l2
    2l1r 2 l1 r q2
    1 b1
    b
    q1 tan
    a1 l1

    r sin q1
    q2 tan 1

    r cos l1
    a

    q3 q1 q2
    8
    kinematic models
    RPR robot (zero offset)
    Direct kinematic position Model
    q3
    Given: l3
    l1 , l3 , q1 , q2 & q3

    Find:
    a,b & l1+q2

    Solution: b
    a l1 q2 cos q1 l3 cosq1 q3
    b l q sin q l sin q q q1
    1 2 1 3 1 3

    q1 q3 a

    9
    kinematic models
    RPR robot (zero offset)
    q3
    Inverse kinematic position Model l3
    Given: l1 , l3 , a, b &
    Find: q1 , q2 & q3
    Solution steps: l1+q2

    By using DKPM solution b

    a l1 q2 cos q1 l3 cosq1 q3
    b l q sin q l sin q q q1
    1 2 1 3 1 3
    a
    q1 q3

    Then a l3 cos a1 l1 q2 cos q1


    b l sin b l q sin q
    3 1 1 2 1 10
    kinematic models
    RPR robot (zero offset)
    Inverse kinematic position Model
    Solution : a1 a l3 cos b1 b l3 sin q3
    l3
    b1
    q1 tan
    1

    a1
    l1+q2
    q2 a1 b1 l1
    2 2

    b
    q3 q1
    q1
    a

    11

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