Robotics 2

Inverse Kinematics for Orientation

Inverse Kinematics for Orientation

To complete this lab activity, do the following:

(1) Define a rotation matrix for R0_6 that is different than mine (in my Python code)

(2) Run your Python code with your R0_6 matrix to calculate Theta 4, 5, and 6

(3) Make sure that the R3_6_Check matrix matches the R3_6 matrix, in order to confirm that your Theta 4, 5, and 6 values are valid.

Make a video that includes the following in one video:

(1) You saying your name

(2) Your R0_6 matrix (different than mine) entered into your Python code

(3) Your Python output showing the values of Theta 4, 5, and 6

(4) Your Python output showing that the R3_6_Check matrix matches the R3_6 matrix

(1) Define a rotation matrix for R0_6 that is different than mine (in my Python code)

(2) Run your Python code with your R0_6 matrix to calculate Theta 4, 5, and 6

(3) Make sure that the R3_6_Check matrix matches the R3_6 matrix, in order to confirm that your Theta 4, 5, and 6 values are valid.

Make a video that includes the following in one video:

(1) You saying your name

(2) Your R0_6 matrix (different than mine) entered into your Python code

(3) Your Python output showing the values of Theta 4, 5, and 6

(4) Your Python output showing that the R3_6_Check matrix matches the R3_6 matrix

This video introduces the 'spherical wrist' - a 3-degree-of-freedom device that is often attached to the end of a standard type 3-DoF manipulator, together making a single 6-DoF manipulator.

In this video, we learn the procedure for doing inverse kinematics for manipulators with more than 3 degrees of freedom. We do an example of a cylindrical manipulator with spherical wrist, and we solve the problem by writing code in Python.