Robotic Lec 5

‫رﺑﺎﺗﯿﮏ‬
‫ ﺳﯿﻨﻤﺎﺗﯿﮏ‬: ‫ﻓﺼﻞ ﺳﻮم‬
AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 1

Lecture 3_1:
Manipulator Kinematics
Forward Kinematics
ROBOTICS

Lecture 3_2:
Manipulator Kinematics
Inverse Kinematics
ROBOTICS

Outlines
 Introduction
 Solvability
 Algebraic & Geometric
 Pieper’s Solution
 Example of Inverse Manipulator Kinematics

Introduction
 Forward Kinematic: Describe the position and orientation of the
manipulator end-effector (EE) relative to the base frame as a function of
joint variables. (Application:…)
 𝑿𝑿 = 𝒇𝒇(Ѳ)
 Inverse Kinematics: Given the desired position and orientation of the

end-effector relative to the base, compute the set of joint variables
which will achieve this desired result. (Application:…)
 Ѳ = 𝒇𝒇−1 (𝑿𝑿)

← Outline
Solvability
 Inverse Kinematic (IK) mapping is a nonlinear mapping.
 Given the desired numerical value of 0𝑇𝑇𝑛𝑛 , find 𝜃𝜃1 , … , 𝜃𝜃𝑛𝑛 ?
 It is a Nonlinear Problem.
0
𝑇𝑇𝑛𝑛 �𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 = 0𝑇𝑇𝑛𝑛 �𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃 Finding 𝜃𝜃1 , … , 𝜃𝜃𝑛𝑛
 Example: PUMA-560 Robot. Given 0𝑇𝑇6 ; Find 𝜃𝜃1 , … , 𝜃𝜃6 ?!!

← Outline
Solvability
 For a 6-DOF manipulator, we have:
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13 𝑝𝑝𝑥𝑥
0 𝑟𝑟 𝑟𝑟22 𝑟𝑟23 𝑝𝑝𝑦𝑦
𝑇𝑇6 � = 21
𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃 𝑟𝑟31 𝑟𝑟32 𝑟𝑟33 𝑝𝑝𝑧𝑧
0 0 0 1
 12-Equations & 6-Unknowns?

 From 9-Equations of the Rotation Matrix, only 3-Equations are
independent.
 Therefore, we have 6-independent non-linear equations and 6-unknowns.
Is it solvable?
 Nonlinear equations:
 Existence of solution
 Multiple solution
 Method of solution

← Outline
Solvability
 Existence of solution
 The existence relates to the manipulator’s workspace.
 Workspace: The volume of space which the end-effector of a robot can

reach.
 For a solution to exist the point should be in manipulator’s workspace.
 Reachable Workspace: The volume of space which the end-effector

of a robot can reach with at least one orientation.
 Dexterous Workspace: The volume of space which the end-effector
of a robot can reach with all orientations.
 Note: The dexterous workspace is a subset of the reachable workspace

← Outline
Solvability
 Example 1: A two-link planar manipulator
 If 𝑙𝑙1 = 𝑙𝑙2 ,
 Reachable workspace is …
 Dexterous workspace is …

← Outline
Solvability
 If 𝑙𝑙1 = 𝑙𝑙2 ,
 Reachable workspace is a disc of radius 2𝑙𝑙1 .
 Dexterous workspace is a single point (the origin).
 If 𝑙𝑙1 ≠ 𝑙𝑙2 ,
 Reachable workspace …
 Dexterous workspace …

← Outline
Solvability
 If 𝑙𝑙1 = 𝑙𝑙2 ,
 Reachable workspace is a disc of radius 2𝑙𝑙1 .
 Dexterous workspace is a single point (the origin).
 If 𝑙𝑙1 ≠ 𝑙𝑙2 ,
 Reachable workspace is a ring with outer radius 𝑙𝑙1 + 𝑙𝑙2 and the inner
radius is 𝑙𝑙1 − 𝑙𝑙2 .
 Dexterous workspace: Empty.
 Inside the reachable workspace there are two possible orientations of

the end-effector.
 On the boundaries the reachable workspace the workspace there is only
one possible orientation (So, …).
Elbow Up
Elbow Down
← Outline
Solvability
 Joint Limitation
 If joints have mechanical limitation (e.g. those cannot rotate 360-
degree), the workspace may be reduced.
 For example if 𝜃𝜃1 has 360-degree motion, but 𝜃𝜃2 ’s motion is limited to 0
≤ 𝜃𝜃2 ≤ 180, what is the reachable workspace?
 The reachable workspace has the same volume, but only one orientation
is attainable.
 Example of workspace reduction: …

← Outline
Solvability
 Example 2: A RRR planar manipulator
 The Link 3 is a wrist.
 (Assume 𝑙𝑙1 > 𝑙𝑙2 & 𝑙𝑙3 is negligible)
 Reachable workspace = ?
 Dexterous workspace = ?

← Outline
Solvability
 The Link 3 is a wrist.
 (Assume 𝑙𝑙1 > 𝑙𝑙2 & 𝑙𝑙3 is negligible)
 Reachable workspace is a ring with outer radius 𝑙𝑙1 + 𝑙𝑙2 and the inner
radius is 𝑙𝑙1 − 𝑙𝑙2 .
 Dexterous workspace = Reachable workspace
 Note: A wrist can expand the Dexterous workspace.

This is an important property of Decoupled Manipulator.
← Outline
Solvability
 (Assume 𝑙𝑙1 > 𝑙𝑙2 > 𝑙𝑙3 & 𝑙𝑙1 > 𝑙𝑙2 + 𝑙𝑙3 )

← Outline
Solvability
 Remark:
 Reachable Workspace: The volume of space which the end-effector
of a robot can reach with at least one orientation.
 Dexterous Workspace: The volume of space which the end-effector
of a robot can reach with all orientations.
 Note:
 To solve the manipulator inverse kinematics, if the goal is …
 Desired position:
o That is enough to be located in the Reachable Workspace.
 Desired position & orientation:

o If it is located in the Dexterous Workspace, the solution always
exist.
o If it is located in the Reachable Workspace, the solution may exist.

← Outline
Solvability
 Multiple solution
 A manipulator may reach any position and orientation in the interior of
its workspace with different configurations (multiple solution).
 Example: RRR planar manipulator with a wrist
 Large dexterous workspace in the plane.
 Any position in the interior of its workspace can be reached with any
orientation.
 Multiple solution could be found.
 Note: Multiple solution can cause problems, because the system has to
be able to choose one.
← Outline
Solvability
 Assume the manipulator is at point A and we wish to move it to point B.
 Prominent points to choose a solution:

 A very reasonable choice would be the closest solution.
The solution that minimizes the amount that each joint is required to
move.
 Moving smaller joints rather than moving the large joints.
 Presence of obstacles might force a "farther" solution to be chosen in
cases where the "closer" solution would cause a collision.

← Outline
Solvability
 Example: PUMA 560
 How many solutions are there for a given position and orientation?
 It can reach certain goals with 8-different solutions.

 Due to the joint limitations, some solutions might not be accessible.
← Outline
Solvability
 The number of solutions depends upon:
 The number of joints
 The allowable ranges of motion of the joints
 Link parameters
 The more Non-Zero link parameters, the more Solutions to reach a

certain goal.
 Up to 16-solutions are possible for a completely general revolute arm

with 6-DOF.

← Outline
Solvability
 Methods of Solutions
 Unlike linear equations, no general algorithms exist for solving a set of
nonlinear equations.
 A manipulator is said to be solvable if the set of all joint variable

associated to a given position and orientation can be determined.
 Two forms of solution strategies exist:

 1- Closed-form-Solutions:
Solution method is based on analytical expressions.
 2- Numerical Solutions:
Due to their iterative nature, they are too slow, and therefore not a useful
approach in solving robot kinematics.

← Outline
Solvability
 Notes:
 All systems with revolute and prismatic joints having 6 DOF in a single
series chain are solvable.
 Only in special cases it could be solved analytically.
 Robots with analytical solutions have several intersecting joints or many

𝛼𝛼𝑖𝑖 are 0 or ±90 degrees.
 It is very important to design a manipulator such that a closed form

solution exists.

← Outline
Solvability
 Theorem:
 A sufficient condition that a manipulator with six revolute joints
have a closed-form solution is that three neighboring joint axes
intersect at a point.
 Included in this family of manipulators are those with three consecutive

parallel axes, because they meet at the point at infinity.
 Closed-form solutions exist for decoupled manipulator (three joints

intersect).
 Closed-form solutions:
 Algebraic solution
 Geometric solution
 Algebraic solution by Reduction to Polynomial
 …

← Outline
Algebraic & Geometric
 Algebraic Solution
 Example: RRR Planar Manipulator

← Outline
 Geometric Solution
 Decompose the spatial geometry of the arm into several plane-geometry
problems.
 Joint angles can then be solved for by using the tools of plane geometry.
 For many manipulators (particularly when the 𝛼𝛼𝑖𝑖 = 0 or ±90) this can be
done quite easily.
 Example: RRR Planar Manipulator

← Outline
 Algebraic Solution by Reduction to Polynomial
 Transcendental equations are often difficult to solve.
 Even when there is only one variable (𝜃𝜃), it generally appears as 𝑠𝑠𝑠𝑠𝑠𝑠 𝜃𝜃
and 𝑐𝑐𝑐𝑐𝑐𝑐 𝜃𝜃 .
 Change of variable using the tangent of half-angle.
 Convert transcendental equations into polynomial equations in 𝑢𝑢 .
 Polynomials up to degree four possess closed-form solutions.
𝜃𝜃
𝑢𝑢 = 𝑡𝑡𝑡𝑡𝑡𝑡
2
1 − 𝑢𝑢2
𝑐𝑐𝑐𝑐𝑐𝑐 𝜃𝜃 =
1 + 𝑢𝑢2
2𝑢𝑢
𝑠𝑠𝑠𝑠𝑠𝑠 𝜃𝜃 =
1 + 𝑢𝑢2
← Outline

← Outline
 ……………

← Outline

← Outline
Pieper’s Solution
 Although a completely general robot with six degrees of freedom does
not have a closed-form solution, certain important special cases can be
solved.
 Pieper studied manipulators with six degrees of freedom in which three

consecutive axes intersect at a point (Included three consecutive parallel
axes).
 This section outlines the method he developed for the case of all six
joints revolute, with the last three axes intersecting (Decoupled
Manipulator).
 It can be also applied to prismatic joints, as well to many industrial robot.

← Outline
Pieper’s Solution
 Consider a 6 DOF manipulator with all 6 joint revolute and the last three
intersect (such as PUMA).
 The origin of frames {4}, {5}, {6} located at the point of intersection.
3
 𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 is in fact the position part of 3𝑇𝑇4

← Outline
Pieper’s Solution
 Substituting for 2𝑇𝑇3 :

← Outline
Pieper’s Solution
 Similarly, substituting for 1𝑇𝑇2 :
𝑓𝑓1 𝜃𝜃3 𝑔𝑔1

0 𝑓𝑓 𝜃𝜃 𝑔𝑔
𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 = 0𝑇𝑇1 1𝑇𝑇2 2 3 = 0𝑇𝑇1 𝑔𝑔2
𝑓𝑓3 𝜃𝜃3 3
1 1
 Similarly, substituting for 0𝑇𝑇1 :
𝑔𝑔1 𝑐𝑐1 𝑔𝑔1 − 𝑠𝑠1 𝑔𝑔2

0 𝑔𝑔 𝑠𝑠 𝑔𝑔 + 𝑐𝑐 𝑔𝑔
𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 = 0𝑇𝑇1 𝑔𝑔2 = 1 1 𝑔𝑔 1 2
3 3
1 1

← Outline
Pieper’s Solution
 Consider:
𝑐𝑐1 𝑔𝑔1 − 𝑠𝑠1 𝑔𝑔2 𝑥𝑥
0 𝑠𝑠 𝑔𝑔 + 𝑐𝑐 𝑔𝑔 𝑦𝑦
𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 = 1 1 𝑔𝑔 1 2 = 𝑧𝑧
3
1 1
 Consider the squared norm of 0𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 :

𝑟𝑟 = 𝑥𝑥 2 + 𝑦𝑦 2 + 𝑧𝑧 2
 Also,
 Take 𝑟𝑟 and 𝑧𝑧 simultaneously into account:

← Outline
Pieper’s Solution
 Consider the solution for 𝜃𝜃3 :
1) If 𝑎𝑎1 = 0, then 𝑟𝑟 = 𝑘𝑘3 , where 𝑟𝑟 is known. The right-hand side (𝑘𝑘3 ) is a

function of 𝜃𝜃3 only. A polynomial approach can be used for 𝜃𝜃3 .
2) If 𝑠𝑠𝛼𝛼1 = 0, then 𝑧𝑧 = 𝑘𝑘4 , where 𝑧𝑧 is known. The right-hand side (𝑘𝑘3 ) is

a function of 𝜃𝜃3 only. A polynomial approach can be used for 𝜃𝜃3 .
3) Otherwise, eliminate 𝑠𝑠2 and 𝑐𝑐2
 A polynomial approach (4th order) can be used for 𝜃𝜃3 .

← Outline
Pieper’s Solution
 By finding 𝜃𝜃3 , 𝜃𝜃2 can be found.
 By finding 𝜃𝜃3 & 𝜃𝜃2 , 𝜃𝜃1 can be found

← Outline
Pieper’s Solution
 To complete the IK problem, 𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 needs to be found.
 3 Methods can be applied:

← Outline
Pieper’s Solution
 1st Method:
0
𝑅𝑅6 � = 0𝑅𝑅6 �
𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃
 Having found 𝜃𝜃1 , 𝜃𝜃2 & 𝜃𝜃3 , we can find 0𝑅𝑅6 �𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃 based on 𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 .
 It should be solved by algebraic methods to find 𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 .

← Outline
Pieper’s Solution
 2nd Method:
 Since they intersect, they just affect the orientation.
 So, they can be obtained from orientation part.
0
𝑅𝑅6 = 0𝑅𝑅3 3𝑅𝑅6
 Having found 𝜃𝜃1 , 𝜃𝜃2 & 𝜃𝜃3 , we can find 0𝑅𝑅3 and hence 3𝑅𝑅6 :
3 −1 0
𝑅𝑅6 = 0𝑅𝑅3 𝑅𝑅6
3
 It should be solved by algebraic methods to find 𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 .

3
𝑅𝑅6 � = 3𝑅𝑅6 �
𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃

← Outline
Pieper’s Solution
 3rd Method:
 For any manipulator, a set of proper Euler angles can be defined for
𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 .
 For many manipulators, the last three joints can be solved by ZYZ Euler
angle.

← Outline
Pieper’s Solution
 3rd Method:
 Assume 0𝑅𝑅6 �𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 is given.
 Regarding the forward kinematic problem:

0
0
𝑅𝑅6 = 0𝑅𝑅4 � 4
𝑅𝑅6
𝜃𝜃4 =0
−1
4
𝑅𝑅6 = 0𝑅𝑅4 � 0
𝑅𝑅6
𝜃𝜃4 =0
 Having found 𝜃𝜃1 , 𝜃𝜃2 & 𝜃𝜃3 , we can find 4𝑅𝑅0 �𝜃𝜃 .
4 =0
 Therefore, 4𝑅𝑅6 �𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 can be achieved.

← Outline
Pieper’s Solution
 3rd Method:
4
 If 𝑅𝑅6 can be found by a set of ZYZ Euler angles, they will be exactly
𝜃𝜃4 , 𝜃𝜃5 & 𝜃𝜃6 .
4
𝑅𝑅6 � = 𝑅𝑅𝑍𝑍𝑍𝑍𝑍𝑍 𝛼𝛼, 𝛽𝛽, 𝛾𝛾
𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁
𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 − 𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠 −𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠 − 𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠
𝑅𝑅𝑍𝑍𝑍𝑍𝑍𝑍 𝛼𝛼, 𝛽𝛽, 𝛾𝛾 = 𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 + 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠 −𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠 + 𝑐𝑐𝑐𝑐 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠
−𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐
𝛼𝛼 = 𝜃𝜃4
𝛽𝛽 = 𝜃𝜃5
𝛾𝛾 = 𝜃𝜃6
← Outline
Pieper’s Solution
 Note: Two solutions always exist for these last three joints, so the total
number of solutions will be twice the number found for the first three
joints.

← Outline
Example of Inverse Manipulator Kinematics
 The Unimation PUMA 560
 The manipulator solution is done purely algebraically.
 Pieper's method can be also used, but we choose an alternative solution

(various available methods).
← Outline
 Position (𝜽𝜽𝟏𝟏 , 𝜽𝜽𝟐𝟐 , 𝜽𝜽𝟑𝟑 )
 Objective: Solve for 𝜃𝜃𝑖𝑖 when 0𝑇𝑇6 is given as numeric values.
 Put the dependence on 𝜃𝜃1 on the left-hand side of the equation by

inverting 0𝑇𝑇1 .
(1)
 The advantage is in separating out variables in the search for a solvable

equation.
← Outline
 Equating the (2,4) elements from both sides

← Outline
 Equating the (2,4) elements from both sides:
(2)
 To solve, make the polar substitutions:
 Therefore
 Two possible solutions for 𝜃𝜃1 .

← Outline
 Now that 𝜃𝜃1 is known, the left-hand side of (1) is known.
 Equate both the (1,4) and (3,4) elements:
 Square equations and add the resulting equations:
(3)
 Dependence on 𝜃𝜃2 has been removed.
 The Equation (3) is of the same form as (2).
 Two different solutions for 𝜃𝜃3 .

← Outline
 Rewrite (1) so that all the left-hand side is a function of only knowns and
𝜃𝜃2 .
(4)
 Equating both the (1,4) and (2,4) elements:
 These equations can be solved simultaneously for 𝑠𝑠23 and 𝑐𝑐23 .

← Outline
 The denominators are equal and positive, so
 Four values of 𝜃𝜃23 , according to the four possible combinations of

solutions for 𝜃𝜃1 and 𝜃𝜃3 .
 Four possible solutions for 𝜃𝜃2 .

← Outline
 Orientation (𝜽𝜽𝟒𝟒 , 𝜽𝜽𝟓𝟓 , 𝜽𝜽𝟔𝟔 )
 The entire left side of (4) is known. Equating both the (1,3) and (3,3)
elements:
 As long as 𝑠𝑠5 ≠ 0,
 When 𝜃𝜃5 = 0, the manipulator is in a singular configuration (Joint axes

4 and 6 line up).
 All that can be solved is the sum or difference of 𝜃𝜃4 and 𝜃𝜃6 .
 This situation is detected by checking whether both arguments of the

𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴2 in are near zero.
 Then, 𝜃𝜃4 is chosen arbitrarily, and 𝜃𝜃6 will be computed accordingly.

← Outline
 Rewrite (4) so that all the left-hand side is a function of only knowns and
𝜃𝜃4 .
(5)
 Equating both the (1,3) and (3,3) elements
 𝜃𝜃5 can be solved

← Outline
 Compute 1𝑇𝑇5−1 and write (5) in the form:
 Equating both the (3,1) and (1,1) elements:
 There are four more solutions obtained by "flipping" the wrist (flipped
solution).
 All eight solutions have been computed.

← Outline
Acknowledgment
References:
1-Advanced Robotics , Dr. H. Ghafarirad, Department Of Mech. Eng. Amirkabir University of
Technology
.‫ﺗﻘﺮﯾﺒﺎً ﺗﻤﺎﻣﯽ اﺳﻼﯾﺪﻫﺎ ﻣﺘﻌﻠﻖ ﺑﻪ ﺟﻨﺎب آﻗﺎي دﮐﺘﺮ ﻏﻔﺎري اﺳﺖ از ﻟﻄﻒ اﯾﺸﺎن ﺳﭙﺎﺳﮕﺰارم‬
2-Advanced Robotics , Dr. A. M. Shafei, Department Of Mech. Eng. Shahid Bahonar University of
Kerman

The END
References:
1) .

Robotic Lec 5

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‫رﺑﺎﺗﯿﮏ‬

‫ ﺳﯿﻨﻤﺎﺗﯿﮏ‬: ‫ﻓﺼﻞ ﺳﻮم‬

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 1

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 2

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 3

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 4

 Inverse Kinematics: Given the desired position and orientation of the

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 5

 Given the desired numerical value of 0𝑇𝑇𝑛𝑛 , find 𝜃𝜃1 , … , 𝜃𝜃𝑛𝑛 ?

 Example: PUMA-560 Robot. Given 0𝑇𝑇6 ; Find 𝜃𝜃1 , … , 𝜃𝜃6 ?!!

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 6

 12-Equations & 6-Unknowns?

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 7

 Workspace: The volume of space which the end-effector of a robot can

 For a solution to exist the point should be in manipulator’s workspace.

 Reachable Workspace: The volume of space which the end-effector

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 8

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 9

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 10

 Inside the reachable workspace there are two possible orientations of

 Example of workspace reduction: …

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 13

 Note: A wrist can expand the Dexterous workspace.

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 15

 Desired position & orientation:

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 16

 Example: RRR planar manipulator with a wrist

 Large dexterous workspace in the plane.

 Multiple solution could be found.

 Prominent points to choose a solution:

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 18

 It can reach certain goals with 8-different solutions.

 The more Non-Zero link parameters, the more Solutions to reach a

 Up to 16-solutions are possible for a completely general revolute arm

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 21

 A manipulator is said to be solvable if the set of all joint variable

 Two forms of solution strategies exist:

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 22

 Only in special cases it could be solved analytically.

 Robots with analytical solutions have several intersecting joints or many

 It is very important to design a manipulator such that a closed form

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 23

 Included in this family of manipulators are those with three consecutive

 Closed-form solutions exist for decoupled manipulator (three joints

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 24

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 25

 Example: RRR Planar Manipulator

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 31

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 35

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 36

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 37

 Pieper studied manipulators with six degrees of freedom in which three

 It can be also applied to prismatic joints, as well to many industrial robot.

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 38

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 39

 Substituting for 2𝑇𝑇3 :

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 40

𝑓𝑓1 𝜃𝜃3 𝑔𝑔1

 Similarly, substituting for 0𝑇𝑇1 :

𝑔𝑔1 𝑐𝑐1 𝑔𝑔1 − 𝑠𝑠1 𝑔𝑔2

AMIRKABIR UNIVERSITY OF TECHNOLOGY / M. ZAREINEJAD 41

 Consider the squared norm of 0𝑃𝑃4𝑜𝑜𝑜𝑜𝑜𝑜 :