Lectures 8-9: Robot Kinematics In this lecture, you will learn: - Examples of Kinematics using DH notation. - Matlab simulated robots using the Robotics Toolbox - Inverse kinematics
Dan O. Popa, Robotics EE4315, Spring, 2007
Manipulator Kinematics using the DH notation
Dan O. Popa, Robotics EE4315, Spring, 2007
Example: PUMA 560
Dan O. Popa, Robotics EE4315, Spring, 2007
Example: PUMA 560
Dan O. Popa, Robotics EE4315, Spring, 2007
Example: PUMA 560 R p T = = 0 1 r11 r12 r13 r r22 r23 21 = r31 r32 r33 0 0 0
0 6
px p y pz 1
Dan O. Popa, Robotics EE4315, Spring, 2007
Example: PUMA Multiple solutions
Dan O. Popa, Robotics EE4315, Spring, 2007
Example: Spherical Wrist
Dan O. Popa, Robotics EE4315, Spring, 2007
Textbook Readings • Chapters 2,3,4 from J. J. Craig text • Chapter 3,4 from McKerrow text
Dan O. Popa, Robotics EE4315, Spring, 2007