Introduction to the inverse kinematics of serial manipulators
نویسنده
چکیده
Position analysis is an essential step in the design, analysis and control of robots. In this article, a basic introduction to the position analysis of serial manipulators is given. This topic is invariably covered in all the textbooks on this subject. Therefore, instead of repeating the standard details of forward kinematics, such as, the designation of the reference frames, determination of the Denavit-Hartenberg (DH) parameters, multiplication of the 4×4 transformation matrices to get the end-effector position and orientation etc., more emphasis is laid on the inverse problem, which is relatively more complicated in such manipulators. Simple examples, such as a planar 2-R and a spatial 3-R serial robot are discussed in detail. Related concepts, including the numbers of solutions to the inverse kinematic problem, condition(s) for coincidence of the solution branches and their equivalence with singularities, the workspace boundaries as the loci of singular configurations etc. are presented in a manner that once the reader follows these clearly, he/she would find it very easy to apply these to another manipulator. Multiple approaches to the same problem are included to provide just a fleeting glance at the richness of this fascinating subject, and to suit the potentially different tastes of the readers. As the reader is expected to be familiar with the basic concepts, the rest of the article would focus more on the actual solution of two representative examples, one planar and
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