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Prof. Mark YimUniversity of Pennsylvania
Week 6: Inverse Kinematics
Robotics: Fundamentals
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Video 6.1Mark Yim
Robotics: Fundamentals
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Where, refer to the 12 nontrivial entries of and
Inverse Kinematics Definition
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Stanford Arm Transform
12 non-linear eqns, 7 unknownsProperty of University of Pennsylvania, Mark Yim
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atan(y/x)
atan(y/x) vs atan2(y,x)
By Geek3 (Own work) [GFDL] By Qef (self-made using design of the bitmap version) [CC0]Property of University of Pennsylvania, Mark Yim
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Video 6.2Mark Yim
Robotics: Fundamentals
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Video 6.3Mark Yim
Robotics: Fundamentals
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Kinematic Decoupling•“gantry example.mov” Video goes here
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Inverse Position: Cylindrical robot case
pc
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q2 = d2
q1= θ1
q3 = d3x y
z
Cylindrical coordinates(RPP)
pc𝜃" = atan2 𝑦, 𝑥
𝑑, = 𝑥, + 𝑦,�
𝑑/ = 𝑧
(𝑥, 𝑦, 𝑧)
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Wrist Center Rotation
𝑇4/ =
𝑐" 0𝑠" 0
−𝑠" −𝑠"𝑑/𝑐" 𝑐"𝑑/
0 −10 0
0 𝑑"+𝑑,0 1
Property of University of Pennsylvania, Mark Yim