Presentation on theme: "Robot Modeling and the Forward Kinematic Solution"— Presentation transcript:
1 Robot Modeling and the Forward Kinematic Solution ME 4135Lecture Series 4 – PART 26 DOF Articulating Arm
2 Another? 6dof Articulating Arm – (The Figure Contains Frame Skelton)
3 LP 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!
12 And Finally of the FKS:Remember – these “Physical Verifications” must be checked against the robot’s Frame skeleton – not just prepared!
13 You should Develop Frame Skeleton for each of the Various Arm Types SCARACylindricalPrismaticGantryCantilevered
14 And 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