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Appendix 2

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Appendix 2

Document 3

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alenelijalem12
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Appendix 2

The inverse robot

The n degree-of-frccdom robot whose set of geometric parameters are (Oj', Oj'. dj\ 6j'» rj')
is defined as the inverse of the robot (Oj, otj, dj, 9j, rj) if the transformation matrix ^n(oj'» Oj",
dj\ Gj\ rj') is equal to ^n'k<^j»«). ^y ®j» fj)-
Table A2.1 gives the geometric parameters of a general six degree-of-freedom robot.
Table A2.2 gives those of the corresponding inverse robot. Indeed, let us write the
transformation matrix ^ 5 under the following form:

^ 6 = Rot(2,ei) Traiis(«,ri) Rot(x.a2) Traiis(x,d2) Traiis(2,r2) Rot(2,92)... Rot(x,(x^)


Trans(x,d^) TransCz^r^) RotCz^e^) [A2.1 ]

Table A2.1. Geomeiric parameters of a general six degree-of-freedom robot

1 j «j "i «»j Oj 'J 1


1
1 2
'o\ 02
0
02
0
d2
ei
92
n
r2 1
3 03 03 d3 03 r3 1
4 1 04 "4 <k 64 ^4

1 5 05 05 ds O5 rs
' 6[ 06 06 d6 66 '"6 1

The inverse transformation matrix ^ o <^^ ^ written as:

% « Rot(z.-e6) Trans(a.H-6) Traiis(x,-d6) Rot(x,-a6) ROKL-QS)


Trtiis(x,-T5)... Traiis(x,-<l2) Rot(x,-a2) Rot(i.-e|) Trans(z,-r|) tA2.2]
402 Modeling, identification and control of robots

The parameters of Table A2.2 result from comparing equations [A2.1J and [A2.2]. The
corresponding elementary transformation matrices are denoted by J'^Tj' such that:

% • = ^{ ^12'... ^T6 = % - ^ [A2.3]

Table A2.2. Geometric parameters of the six degree-of-freedom inverse robot

1 J "j' «»' ••j" ey 0* 1


1' 06 0 0 -06 -^6 1
1 ^ 05 -«6 -d6 -65 -^5 1
1 3 04 -«5 ^5 -04 -u 1
1* ©3 -«4 -<u -«3 -^3 1
5 1 02 -as -d3 -62 -r2 1
L^ Oj -«2 -^2 -«, -fl

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