California State University, San Bernardino

School of Computer Science and Engineering

CSE 5410 Robotics and

Control

Lecture. 5 (Chap. 6)

Fall, 2022
Instructor :
DuckJin Chung,Ph. D.

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1) Introduction: Chap.1
- Robot Components
- Introduction to Robot’s Kinematics, Dynamics, and Control
2) Rotation Kinematics: Chap. 2
- Rotation about Global Cartesian Axes
- Rotation About Local Cartesian Axes
3) Motion Kinematics: Chap. 4
- Rigid Body Motion
- Homogeneous Transformation
4) Forward Kinematics: Chap. 5
- Denavit-Hartenberg Notation
-Transformation between Two Adjacent Coordinate Frames
5) Inverse Kinematics: Chap. 6
- Decoupling Technique
- Inverse Transformation
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6) Angular Velocity: Chap. 7
- Angular Velocity Vector and Matrix
--Rigid Body Velocity
7) Acceleration Kinematics: Chap.10
- Angular Acceleration Vector and Matrix
- Rigid Body Acceleration
8) Motion Dynamics: Chap. 11
- Rotation about Global Cartesian Axes
- Rotation About Local Cartesian Axes
9) Path Planning: Chap. 13
- Cubic Path
--Polynomial path

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 Chapter 6. Inverse Kinematics

- Determination of joint variables in terms of the end-effector

position and orientation is called inverse kinematics. The main
difficulty of inverse kinematic is the multiple solutions.

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 6.1. Decoupling Technique

1. The zi-axis is aligned with the i+1 joint

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Ex. 182 An articulated maniplator
The links of the manipulator are .

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Ex. 144 Link with R R or R P joint
( αi = 90 deg. ai = 0)

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Ex. 142 Link with R||R or R||P joint
( αi = 0 deg)

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Ex. 182 An articulated maniplator-continue

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Ex. 182 An articulated maniplator-continue

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Ex. 182 An articulated maniplator-continue
From eq. (6.14) and eq.(6.17)

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Ex. 183 Numerical case of an articulated manipulator
When its tip point is at [1 1.1 1.2]T, l1 = 1m, l2 = 1.05m, l3 =0.89m,

We find two values for θ2 for c = -3.232 and we get no real answer for
c = -5.232.

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Ex. 183 Numerical case of an articulated manipulator-continue
If θ2 = 0.755 r/s,

If θ2 = 0.755 r/s,

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Ex. 184 Inverse kinematics for a 2R planar manipulator

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Ex. 142 Link with R||R or R||P joint
( αi = 0 deg)

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Ex. 184 Inverse kinematics for a 2R planar manipulator-continue

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Ex. 184 Inverse kinematics for a 2R planar manipulator-continue

We usually avoid using arcsin and arccos because of the inaccracy.

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Ex. 184 Inverse kinematics for a 2R planar manipulator-continue
The first joint variable θ1 of an elbow up configuration can be
geometrically be found from

and for an elbow down configuration from.

θ1 can also be found from eq.(6.36).

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Ex. 185 Motion of a 2R manipulator.
Consider a 2R planar manipulator with l1 = 1m, l2 = 1m that its tip
Point is moving P1(1.2, 1.5) to P2(-1.2, 1.5) on a straight line.
The following time behavior

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Ex. 188 Meaning of the function .

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Ex. 187 Solution of trigonometric equation acosθ + bsinθ = c.

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Therefore, there are two solutions if r2 = a2 + b2 > c2,
One solution if r2 = c2, and no solution if r2 < c2.

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Ex. 189 Fundamental property of arcsin and arccos.

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Ex. 190 General inverse kinematics formulars.

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Ex. 190 General inverse kinematics formulars-continue.

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Ex. 190 General inverse kinematics formulars-continue.

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Ex. 186 Inverse kinematics of an articulated robot.
The overall transformation matrix of the end-effector was found

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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Ex. 186 Inverse kinematics of an articulated robot. - continue

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