Day 10_Part_1 - 5 for 6-joint robots where the last 3...

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Day 10 Inverse Kinematics 1/25/2012 1
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Inverse Kinematics 1/25/2012 2 given the pose of the end effector, find the joint variables that produce the end effector pose for a 6-joint robot, given find 1 0 6 0 6 0 6 0 o R T 6 5 4 3 2 1 , , , , , q q q q q q
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RPP + Spherical Wrist 1/25/2012 3
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RPP + Spherical Wrist 1/25/2012 4 solving for the joint variables directly is hard 1 0 0 0 33 32 31 23 22 21 13 12 11 3 6 0 3 0 6 z y x d r r r d r r r d r r r T T T 2 1 6 5 4 6 5 1 6 4 1 6 5 4 1 11 d d d s s d c s s s s c c c c c r z
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Kinematic Decoupling 1/25/2012
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Unformatted text preview: 5 for 6-joint robots where the last 3 joints intersecting at a point (e.g., last 3 joints are spherical wrist) there is a simpler way to solve the inverse kinematics problem 1. use the intersection point (wrist center) to solve for the first 3 joint variables inverse position kinematics 2. use the end-effector pose to solve for the last 3 joint variables inverse orientation kinematics...
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Day 10_Part_1 - 5 for 6-joint robots where the last 3...

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