Presentation on theme: "Robot Modeling and the Forward Kinematic Solution"— Presentation transcript:
1Robot Modeling and the Forward Kinematic Solution ME 4135Lecture Series 4 – PART 26 DOF Articulating Arm
2Another? 6dof Articulating Arm – (The Figure Contains Frame Skelton)
3LP TableFramesLinkVardlS C S C 0 → 11R190-1S1C11 → 222a20S2C22 → 333a3S3C33 → 444a4-90S4C44 → 555S5C55 → 666*d6S6C6* With End Frame in Better Kinematic Home, otherwise is (6 - 90), which is a problem!
12And Finally of the FKS:Remember – these “Physical Verifications” must be checked against the robot’s Frame skeleton – not just prepared!
13You should Develop Frame Skeleton for each of the Various Arm Types SCARACylindricalPrismaticGantryCantilevered
14And Proceeding from the text It is often possible to find that robots are assembled from Arms and various WristThus Arms ‘control’ the Positional issues of POSEAnd Wrist ‘adjust’ the Orientation Issues of POSEHence these POSE issues can be treated separatelySee text for Wrist DetailsSphericalRPY of various arrangements