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RKD Unit 3

Inverse kinematics (IK) determines the joint variables needed for a robot's end-effector to reach a specific position and orientation, facing challenges like non-uniqueness and singularities. Solutions can be closed-form or numerical, with tool configuration impacting the desired pose and orientation. A 5-axis articulated robot can position and orient its tool but has limitations in controlling all orientation angles independently.

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22 views4 pages

RKD Unit 3

Inverse kinematics (IK) determines the joint variables needed for a robot's end-effector to reach a specific position and orientation, facing challenges like non-uniqueness and singularities. Solutions can be closed-form or numerical, with tool configuration impacting the desired pose and orientation. A 5-axis articulated robot can position and orient its tool but has limitations in controlling all orientation angles independently.

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Unit 3: Inverse Kinematics

Q. The Inverse Kinematics Problem

 Definition: Inverse kinematics (IK) calculates the joint variables required to place a
robot's end-effector (tool) at a desired position and orientation in space.
 Challenges:
o Non-Uniqueness: Multiple joint configurations can achieve the same end-
effector pose.
o Existence: Not all desired poses may be reachable.
o Singularities: Configurations where solutions are unstable or infinite.

Q. General Properties of Solutions


1. Multiplicity of Solutions:
o For a given end-effector pose, there can be multiple sets of joint values (θ1,θ2,
…,θn) that satisfy the pose.
o Example:
 A 2-link planar robot arm has two possible solutions for placing its
end-effector at a specific point: an elbow-up configuration and an
elbow-down configuration.
o Implications:
 Multiple solutions allow flexibility in motion planning but require
additional criteria (e.g., energy efficiency, collision avoidance) to
select the best configuration.
2. Singularities:
o Definition: Configurations where the Jacobian matrix (mapping joint
velocities to end-effector velocities) loses rank.
o Effects:
 Robot may lose a degree of freedom, causing difficulty in controlling
motion.
 Small changes in the end-effector position can lead to large or
undefined changes in joint angles.
o Types:
 Workspace Singularities: Occur at the boundaries of the robot’s
workspace.
 Postural Singularities: Result from specific joint alignments (e.g., all
arm joints aligned in a straight line).
3. Workspace Boundaries:
o The IK solutions only exist within the reachable workspace of the robot,
which is limited by the joint constraints (e.g., range of motion, length of links).
o Types of Workspace:
 Reachable Workspace: All positions the end-effector can attain.
 Dexterous Workspace: Subset of reachable workspace where all
orientations of the tool are possible.
4. Tool Configuration:
o Describes the orientation of the tool (e.g., a gripper or welding nozzle)
attached to the end-effector. It adds additional constraints to the IK problem,
which can influence the complexity of the solutions.
5. Closed-Form vs. Numerical Solutions:
o Closed-Form Solutions:
 Provide explicit equations for joint variables.
 Common for simpler robots like SCARA or planar robots.
 Faster but limited to simpler kinematics.
o Numerical Solutions:
 Use iterative algorithms (e.g., Newton-Raphson) to approximate joint
values.
 Work for complex robots with many DOFs.
 Computationally intensive and sensitive to initial guesses.

Q. Tool Configuration
 Definition:
The tool configuration defines the orientation and position of the tool attached to the
robot’s end-effector. It typically includes:
1. Tool Offset: The fixed distance between the last robot joint and the tool centre
point (TCP).
2. Tool Orientation: The angular alignment of the tool in space, often defined
using Euler angles, quaternions, or rotation matrices.
3. TCP Pose: Combines the tool’s position and orientation into a single
transformation matrix.
 Impact of Tool Configuration on IK:
o Position Impact: Affects the desired position the robot must achieve by
incorporating the offset between the end-effector and the TCP.
o Orientation Impact: Constrains the joints to ensure the tool is correctly
oriented for the task (e.g., keeping a welding torch perpendicular to a surface).

Tool Configuration for a 5-Axis Articulated Robot


1. Overview:
o A 5-axis articulated robot consists of:
 Three primary axes for positioning the tool in space.
 Two additional axes for orienting the tool.
2. Degrees of Freedom (DOFs):
o 3 DOFs for Positioning: Achieve the desired x, y, z position of the tool.
o 2 DOFs for Orientation: Control the tool’s pitch and yaw (roll is typically
not possible with only 5 axes).
3. Tool Configuration Considerations:
o Position Adjustment:
 The robot computes joint angles to position the tool at the desired
location while accounting for the tool offset.
 The offset is typically defined relative to the flange (end of the robot
arm).
o Orientation Adjustment:
 Two rotational joints orient the tool to achieve the desired pitch and
yaw.
 The orientation constraints depend on the application (e.g., pick-and-
place, welding).
4. Limitations:
o Cannot independently control all three orientation angles (pitch, yaw, roll),
leading to restricted dexterity in certain tasks.
o Requires careful planning to avoid singularities, especially in narrow or
confined spaces.
5. Application-Specific Configurations:
o For a painting robot, the tool (spray nozzle) may need to maintain a consistent
perpendicular orientation to the surface.
o In pick-and-place operations, the tool orientation may need to remain constant
during travel.
6. Mathematical Representation:
o The TCP pose is represented as a homogeneous transformation matrix (T):
T= [ ]
R P
0 1

 RR: Rotation matrix (defines orientation).


 PP: Position vector (defines location of the TCP).
o IK calculations use this matrix to determine the joint angles that achieve the
required tool configuration.

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