Robotics and Automation (EPM4066) Tutorial 3 (Inverse Kinematics)

1. Consider the link-coordinate diagram for the four-axis cylindrical-coordinate robot with tool roll motion as shown. Here the vector of joint variables is q = the kinematic parameters are given in the table below.

[ 1 ,

d 2 , d 3 , 4 ] , and
T

y2 z2

x2

Axis
1 2 3 4

q1 /2
0

d
0

a
0 0 0 0

home
0

q2 q3 d4

/2 /2
0

d r

q4

a) Find the arm matrix Tbase ( q ) . b) Solve the inverse kinematics equations by finding (in whichever order is easiest): i. The base angle q1 . ii. iii. The vertical extension q 2 . The radial extension q3 .

tool

iv. The tool roll angle q 4 . The tool pose is given in form of a homogenous transformation matrix. 2. Consider the link-coordinate diagram of the five-axis articulated robot Rhino XR-3:

a4

d5

Solve the inverse kinematics equations using a geometric approach by finding the base angle q1 , the shoulder angle q 2 , the elbow angle q3 , the tool pitch angle q 4 and the tool roll angle

q5 (in whichever order is easiest). The tool pose is given in form of a homogenous
transformation matrix.