Inverse kinematics Flashcards
1
Q
Forward kinematic equation to the pose matrix of the inverse kinematic problem.
A
…
2
Q
What informations are stored inside the pose matrix?
A
Location = position + orientation
3
Q
How to solve the inverse kinematic problem.
A
Form closed -> algebric (hard but very good solutions)
4
Q
What is a dextrous workspace?
A
Is a volume of the workspace that the robot’s tool can reach in every orientation.
5
Q
Inverse kinematics of the planar manipulator.
A
- Derive the POSE MATRIX from the forward kinematic equation
- Find theta2
- Find theta1 knowing theta2
- Find theta3 = O - theta1 - theta2
6
Q
Inverse kinematics of SCARA.
A
- Derive the POSE MATRIX (remember it) from the forward kinematic equation
- Find theta2
- Find theta1 knowing theta2
- Find theta3 = O - theta1 - theta2
7
Q
Pieper theorem.
A
Sufficient condition for a 6 DoFs manipulator to have a closed form solution for the inverse kin. problem:
- If we have 3 consecutive axis intersecting in a point (proper or improper) then we have a closed form solution.