机器人学基础Robotics-Chap04.pdfVIP

CHAPTER 4 Inverse manipulator kinematics 4.1 INTRODUCTION inverse kinematics of manipulators: given the desired position and orientation of the tool relative to the station, how to compute the set of joint angles which will achieve this desired result? 4.2 SOLVABILITY the problem of solving kinematic equations of PUMA560 ： Given 0T (four of which are trivial), to find the values of θ , θ , θ , θ , 6 1 2 3 4 θ , θ . 5 6 Analysis: 9 equations arising from 0R (only 3 are independent), 3 equations from 6 0 the position-vector portion of 6T . So total 6 equations. with 6 unknowns Difficulties: nonlinear, transcendental equations. transcendental equations: A transcendental equation is an equation containing a transcendental function of the variable(s) being solved for. Such equations often do not have closed-form solutions. Examples include: • An algebraic function is a function that can be defined as the root of a polynomial equation. Quite often algebraic functions can be expressed using a finite number of terms, involving only the algebraic operations addition, subtraction, multiplication, division, and raising to a fractional power. • A transcendental function is an analytic function that does not satisfy a polynomial equation, in contrast to an algebraic function. Examples of transcendental functions include the exponential function, the logarithm, and the trigonometric functions. from Wikipedia Existence of solutions For a solution to exist, the specified goal point must lie within the workspace. Workspace: that volume of space that the end-effector of the manipulator can reach. • Dextrous workspace: the volume of space that the robot end-effector can reach with all orientations. • Reach