- Analyze and evaluate the robot by
- Solving Inverse Kinematics,
- Calculating the Torque working on each Joint, and
- Calculating the Manipulability of Robot being designed.
Demonstration
The handling robot in the following "handling robot design support system"
demonstrations is a robot with 3 joints and 3 arms.
1) Forward Kinematics
Deducing the position of the end-effector (Px,Py,Pz) in terms of
the length of each arm (l1,l2,l3) and the rotation angle of each joint
(1,2,3).
2) Inverse Kinematics
Calculating the desired joint rotation angles (1,2,3) to move the
end-effector to a given position (Px,Py,Pz). Since this problem
have more than two solutions, filtering to reduce the number of
solutions is demonstrated by restricting the rotation angle of a
certain joint.
3) Calculation of Torque and Evaluation of Manipulability
By using the forward kinematics results (Px,Py,Pz) and giving the
force working on the end effector (Fx,Fy,Fz), equations to calcu-
late the torque working on each joint (T1,T2,T3) and the manipu-
lability (D) are deduced. Then, by placing constraints on moving
the end-effector, the equations for torques and manipulability are
simplified.
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