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])
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We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.
As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.
We consider a robot with four joints that moves its end-effector in 3D space.
We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
A more efficient trajectory has a trapezoidal velocity profile.
We may often use the term ethics but what does it mean? What is an ethical problem and what is not? Is ethics independent of culture? Here’s a very quick introduction to the principles of ethics.
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 extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.
We repeat the process of the last section but this time consider it as an algebraic problem.