MECH 498: Introduction to Robotics

Inverse Manipulator Kinematics

M. O’Malley

Manipulator Kinematics – Example

– 3R

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 Direct vs. Inverse Kinematics
• Direct (Forward) Kinematics
– Given: Joint angles and links
geometry
– Compute: Position and
orientation of the end effector
relative to the base frame

• Inverse Kinematics
– Given: Position and orientation
of the end effector relative to
the base frame
– Compute: All possible sets of
joint angles and link
geometries which could be
used to attain the given
position and orientation of the
end effector

Solvability – PUMA 560

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 Solvability
• Existence of Solutions
• Multiple Solutions
• Method of solutions
– Closed form solution
• Algebraic solution
• Geometric solution
– Numerical solutions

Solvability – Existence of
Solution
• For a solution to exist, must be in the
workspace of the manipulator
• Workspace - Definitions
– Dexterous Workspace (DW): The subset of space in
which the robot end effector can reach in all
orientations.
– Reachable Workspace (RW): The subset of space in
which the robot end effector can reach in at least 1
orientation
• The Dexterous Workspace is a subset of the
Reachable Workspace

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Solvability - Existence of Solution - Workspace - 2R
Example 1 – L1 = L2

Solvability - Existence of Solution - Workspace - 2R

Example 2 – L1 ≠ L2

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 Solvability - Existence of Solution - Workspace - 3R
Example 3 – L1 = L2

Solvability – Multiple Solutions

• Multiple solutions are a
common problem that
can occur when solving
inverse kinematics
because the system has
to be able to chose one
• The number of solutions
depends on the number
of joints in the
manipulator but is also a
function of the link
parameters (ai, αi, θi, di)
• Example: The PUMA 560
can reach certain goals
with 8 different arm
configurations (solutions)

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 Solvability – Multiple Solutions
• Problem: The fact that a
manipulator has multiple
solutions may cause problems
because the system has to be
able to choose one
• Solution: Decision criteria
– The closest (geometrically)
• Minimizing the amount that each
joint is required to move
• Note 1: input argument - present
position of the manipulator
• Note 2: Joint Weight - Moving small
joints (wrist) instead of moving
large joints (Shoulder & Elbow)
– Obstacles exist in the workspace
• Avoiding collision

Solvability – Multiple Solutions –

Number of Solutions
• Task Definition - Position the
end effector in a specific point in
the plane (2D)
• No. of DOF = No. of DOF of the
task
– Number of solutions:
• 2 (elbow up/down)
• No. of DOF > No. of DOF of the
task
– Number of solutions: ∞
– Self Motion - The robot can be
moved without moving the end
effector from the goal

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 Solvability – Methods of Solutions
• Solution (Inverse Kinematics)- A “solution” is
the set of joint variables associated with an end
effector’s desired position and orientation.
• No general algorithms that lead to the solution
of inverse kinematic equations.
• Solution Strategies
– Closed form Solutions - An analytic expression
includes all solution sets.
• Algebraic Solution - Trigonometric (Nonlinear) equations
• Geometric Solution - Reduces the larger problem to a
series of plane geometry problems.
– Numerical Solutions - Iterative solutions will not be
considered in this course.

Solvability

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 Mathematical Equations
• Law of Sines / Cosines - For a general triangle

• Sum of Angles

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution

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Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR

(3R) - Algebraic Solution

where

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Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution

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 Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution

c22 + s22 = 1

Note: The choice of the sign corresponds to the multiple solutions in which we can
choose the “elbow-up” or the “elbow-down” solution

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Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution

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 Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution
Based on the previous two transformations, the equations can be rewritten as:

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 Inverse Kinematics - Planar RRR (3R) -
Algebraic Solution

Inverse Kinematics - Planar RRR (3R) -

Algebraic Solution

Based on the original equations,

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 Central Topic – Inverse Manipulator
Kinematics - Examples
• Geometric Solution – Concept
– Decompose spatial geometry into several
plane geometry problems
– Examples - Planar RRR (3R)
manipulators - Geometric Solution
• Algebraic Solution - Concept

– Examples - PUMA 560 - Algebraic

Solution

Inverse Kinematics - Planar RRR (3R) -

Geometric Solution

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Inverse Kinematics - PUMA 560 -
Geometric Solution

Inverse Kinematics - PUMA 560 -

Geometric Solution

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Inverse Kinematics - PUMA 560 -
Geometric Solution

Inverse Kinematics - PUMA 560 -

Geometric Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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 Inverse Kinematics - PUMA 560 -
Algebraic Solution

The solution for θ1

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution

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 Inverse Kinematics - PUMA 560 -
Algebraic Solution

Inverse Kinematics - PUMA 560 -

Algebraic Solution
• After all eight solutions have been
computed, some or all of them may have
to be discarded because of joint limit
violations.
• Of the remaining valid solutions, usually
the one closest to the present manipulator
configuration is chosen.

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Central Topic - Inverse Manipulator
Kinematics -Examples
• Geometric Solution -
Concept
– Decompose spatial
geometry into several
plane geometry
– Example - 3D - RRR (3R)
manipulators - Geometric
Solution
• Algebraic Solution
(closed form) –
– Piepers Method - Last
three consecutive axes
intersect at one point
– Example - Puma 560

Algebraic Solution by Reduction to

Polynomial - Example

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Algebraic Solution by Reduction to
Polynomial - Example

Algebraic Solution by Reduction to

Polynomial - Example

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Algebraic Solution by Reduction to
Polynomial - Example

Algebraic Solution by Reduction to

Polynomial - Example

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Algebraic Solution by Reduction to
Polynomial - Example
By applying the law of cosines, we get

θ3 = Atan2(

Algebraic Solution by Reduction to

Polynomial - Example

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Algebraic Solution by Reduction to
Polynomial - Example

Algebraic Solution by Reduction to

Polynomial - Example

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 Algebraic Solution by Reduction to
Polynomial
• Transcendental equations are difficult to solve because
they are a function of cθ, sθ

• Making the following substitutions yields an expression

in terms of a single variable u
• Using this substitution, transcendental equations are
converted into polynomial equations

Algebraic Solution by Reduction to

Polynomial - Example

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Algebraic Solution by Reduction to
Polynomial - Example

b 2 + a 2 – c2

b 2 + a 2 – c2

Solvability

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 Pieper’s Solution - Three
consecutive Axes Intersect
• Pieper’s Solution
– Closed form solution for a serial 6
DOF in which three consecutive
axes intersect at a point
(including robots with three
consecutive parallel axes, since
they meet at a point at infinity)
• Pieper’s method applies to the
majority of commercially
available industrial robots
– Example: (Puma 560)
• All 6 joints are revolute joints
• The last 3 joints are intersecting

Pieper’s Solution - Three

consecutive Axes Intersect
• Given:
– Manipulator Geometry: 6 DOF & DH parameters
• All 6 joints are revolute joints
• The last 3 joints are intersecting
– Goal Point Definition: The position and orientation of
the wrist in space

• Problem:
– What are the joint angles ( θ1, θ2, θ3, θ4, θ5, θ6 ) as a
function of the goal (wrist position and orientation)

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 Pieper’s Solution - Three
consecutive Axes Intersect
• When the last three axes of a 6 DOF robot intersect, the
origins of link frame {4}, {5}, and {6} are all located at the
point of intersection. This point is given in the base
coordinate system as

• From the general forward kinematics method for

determining homogeneous transforms using DH
parameters, we know:

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

variable is zero

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Pieper’s Solution - Three

consecutive Axes Intersect

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 Pieper’s Solution - Three
consecutive Axes Intersect

Central Topic - Inverse Manipulator

Kinematics - Examples
• Algebraic Solution
(closed form) –
– Piepers Method
(Continued)
• Last three consecutive axes
intersect at one point

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 Three consecutive Axes Intersect - wrist

• Consider a 3 DOF non-planar robot whose axes

all intersect at a point.

Mapping - Rotated Frames - Z-Y-X

Euler Angles

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 Mapping - Rotated Frames - ZYX
Euler Angles

Three consecutive Axes Intersect - wrist

• Because, in this example, our robot can

perform no translations, we can write

• The above transform provides the solution

to the forward kinematics.

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 Three consecutive Axes Intersect - wrist

• The inverse kinematics problem.

– Given a particular rotation - Goal (again, this robot
can perform no translations)
– Solve: Find the Z-Y-X Euler angles

Three consecutive Axes Intersect - wrist

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Three consecutive Axes Intersect - wrist

Three consecutive Axes Intersect - wrist

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Three consecutive Axes Intersect - wrist

Three consecutive Axes Intersect - wrist

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Three consecutive Axes Intersect - wrist

Three consecutive Axes Intersect - wrist

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 Three consecutive Axes Intersect - wrist

• Unfortunately, while this seems

like a simple solution, it is
troublesome in practice because
α is never exactly zero. This leads
to singularity problems
• For this example, the singular
case results in the capability for
self-rotation. That is, the middle
link can rotate while the end
effector’s orientation never
changes.

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