Search Results for: numerical

Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

For a redundant robot the inverse kinematics can be easily solved using a numerical approach.

For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

We consider a robot, which has two rotary joints and an arm.

To simplify the inverse kinematics most robots have a spherical wrist, a particular mechanical wrist design. For robots where the inverse kinematics is too hard to figure out we can solve the problem numerically, treating it as an optimisation problem.

We revisit the important points from this masterclass.

We repeat the process of the last section but this time consider it as an algebraic problem.