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Search Results for: Jacobian matrix

Inverse Kinematics for a General Purpose Robot Arm That Moves in 3D

lesson

For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

Redundant Robots

lesson

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

Numerical Inverse Kinematics

lesson

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])

Interpolating rotation in 3D

lesson

We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions. In the MATLAB example starting at 5:44 I use the Quaternion class.  For Toolbox version 10 (2017) please use UnitQuaternion instead.

Summary of 2D geometry and pose

lesson

We summarise the important points from this lecture.

Inverse Kinematics and Robot Motion

masterclass

Velocity kinematics in 2D

masterclass

Velocity kinematics in 3D

masterclass

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