Inverse kinematics of serial robots with wrist
This function solves the inverse kinematics of the most common types of industrial serial manipulators. These are manipulators with a 3R ortho-parallel basis structure and spherical wrist.
The simplest structural description of manipulators with an ortho-parallel basis with offsets and a spherical wrist can be accomplished by only 7 geometrical parameters (click on the picture). Hence, the Denavit-Hartenberg parameter set is not used here.
TUTORIAL
Start with loading the design-parameters of different industrial robots:
>> opw_parameters
To compute all solutions for a given end-effector pose of a Stäubli TX40 use:
>> theta = ik_6Ropw( staeubli_tx40, [40,400,500], [1, 0.3, 0.1], 0.25)
Here [40,400,500] denotes the position of the end-effector and [1, 0.3, 0.1] and 0.25
are a possible input for the orientation of the end-effector. [1, 0.3, 0.1] denotes
the direction of the z_e-axis and 0.25 the rotation about the z_e-axis.
The forward kinematics can be calculated using the first solution by the function:
>> EE = fk_6Ropw( staeubli_tx40, theta(:,1) )
EE is a homogeneous transformation matrix with translation (within the first coloumn)
and rotation.
You can also use a homogeneous transformation matrix to compute the inverse kinematics:
>> theta = ik_6Ropw( staeubli_tx40, EE)
or
>> theta = ik_6Ropw( staeubli_tx40, [1 0 0 0; 40 0 0 -1; 50 0 -1 0; 70 -1 0 0])
You should also read the according paper for more details:
M. Brandstötter, A. Angerer, and M. Hofbaur, "An Analytical Solution of the
Inverse Kinematics Problem of Industrial Serial Manipulators with an
Ortho-parallel Basis and a Spherical Wrist," Austrian Robotics Workshop, 2014.
Link to paper: http://modular-machines.at/images/Modular-Machines/pub/BraAngHof14.pdf
Zitieren als
Mathias Brandstötter (2024). Inverse kinematics of serial robots with wrist (https://www.mathworks.com/matlabcentral/fileexchange/48468-inverse-kinematics-of-serial-robots-with-wrist), MATLAB Central File Exchange. Abgerufen .
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