Inverse kinematics Flashcards

1
Q

Forward kinematic equation to the pose matrix of the inverse kinematic problem.

A

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2
Q

What informations are stored inside the pose matrix?

A

Location = position + orientation

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3
Q

How to solve the inverse kinematic problem.

A

Form closed -> algebric (hard but very good solutions)

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4
Q

What is a dextrous workspace?

A

Is a volume of the workspace that the robot’s tool can reach in every orientation.

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5
Q

Inverse kinematics of the planar manipulator.

A
  1. Derive the POSE MATRIX from the forward kinematic equation
  2. Find theta2
  3. Find theta1 knowing theta2
  4. Find theta3 = O - theta1 - theta2
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6
Q

Inverse kinematics of SCARA.

A
  1. Derive the POSE MATRIX (remember it) from the forward kinematic equation
  2. Find theta2
  3. Find theta1 knowing theta2
  4. Find theta3 = O - theta1 - theta2
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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.
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