Scribd
Upload
41 views4 pages

20.0000 Base Humerus Ulna Hand Elbow Wrist Tip

This document contains information about forward and inverse kinematics calculations for a robotic arm. The inverse kinematics page shows the joint rotations needed to achieve specific end effector positions and orientations. It includes the arm dimensions, joint angles, and trigonometric calculations to derive the x-y coordinates from a set of rotations. The forward kinematics page determines the joint rotations given a set of x-y coordinates and end effector orientation.

Uploaded by

habaoanh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as XLS, PDF, TXT or read online on Scribd
41 views4 pages

20.0000 Base Humerus Ulna Hand Elbow Wrist Tip

This document contains information about forward and inverse kinematics calculations for a robotic arm. The inverse kinematics page shows the joint rotations needed to achieve specific end effector positions and orientations. It includes the arm dimensions, joint angles, and trigonometric calculations to derive the x-y coordinates from a set of rotations. The forward kinematics page determines the joint rotations given a set of x-y coordinates and end effector orientation.

Uploaded by

habaoanh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as XLS, PDF, TXT or read online on Scribd
You are on page 1/ 4

THIS PAGE DETERMINES JOINT ROTATIONS FOR A GIVEN SET OF X-Y COORDINATES, AND ORIENTATION OF G

FORWARD KINEMATICS
INVERSE KINE
rad
base height
shoulder
humerus
elbow
ulna
wrist
hand

3.25
123.00
4.75
-138.05
4.75
15.05
6

sin
2.1467

cos
0.8387

height
depth
3.2500
0.0000 tip
-0.5446

-2.4095

-0.2597

0.9657

0.2627

0.0000

1.0000

3.9837

-2.5870 offsets

-1.2337

4.5870 wrist

0.0000

6.0000

6.0000

8.0000

ENTER VALUE IN YELLOW


CALCULATED VALUES
SOLUTIONS
CONSTANTS

base
shoulder
elbow
wrist
tip

0
3.2500
7.2337
6.0000
6.0000

S>W
A1
A2
0 shldr
0.0000 elbow
-2.5870
2.0000
8.0000

20.0000
18.0000
16.0000
14.0000
12.0000
10.0000
8.0000
6.0000
4.0000
2.0000
0.0000
-20.0000 -15.0000 -10.0000 -5.0000 0.0000

5.0000

10.000

NATES, AND ORIENTATION OF GRIPPER TO GROUND


INVERSE KINEMATICS
hand
Y
X
height
depth
0
6.0000
8.0000
0.00

6.00

2.7500

2.0000

degrees
3.400368
0.942
1.204743
2.146743
0.732108

53.97263
69.02666
122.9993
-138.0533

SOLUTION

base
humerus
ulna
hand
elbow
wrist
tip

5.0000

10.0000 15.0000 20.0000

THIS PAGE SHOWS HOW TO DERRIVE X-Y COORDINATES FROM A SET OF JOINT ROTATIONS
The really interesting page is the inverse kinematics page, where everything is laid out and commented
FORWARD KINEMATICS
INVERSE KINEM
rad
base height
shoulder
arm
elbow
arm
wrist
tip

3.25
20
4.75
-20
4.75
0
6

sin

cos

height
depth
3.2500
0.0000 tip

0.3491

0.3420

0.9397

-0.3491

0.0000

1.0000

0.0000

0.0000

1.0000

1.6246

4.4635 wrist

0.0000

4.7500

0.0000

6.0000

4.8746

15.2135

0
3.2500
4.8746
4.8746
4.8746

B
q1
q2
0 shldr
0.0000 elbow
4.4635
9.2135
15.2135

ENTER VALUE IN YELLOW


CALCULATED VALUES
base
shoulder
elbow
wrist
tip

20.0000
18.0000
16.0000
14.0000
12.0000
10.0000
8.0000
6.0000
4.0000
2.0000
0.0000
-20.0000 -15.0000 -10.0000 -5.0000 0.0000

5.0000

10.0000

t and commented
INVERSE KINEMATICS
Y
X
height
depth
4.8746 15.2135
1.6246

9.355674
0.174533
0.174533
0.349066
2.792527

9.2135

10
10
20
-20

base
humerus
ulna
hand
elbow
wrist
tip

5.0000

10.0000 15.0000 20.0000

You might also like