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Find inverse kinematics for Four ax is SCARA robot.
1 Answer
written 2.4 years ago by |
Solution:
Four-axis robot:
Following is the kink-coordinate diagram for a four-axis articulated robot:
To solve the inverse kinematics, we use the tool configuration vector as follows:
W(q)=[a1C1+a2C1−2a1 S1+a2 S1−2 d1−q3−d400−exp(q4/π)]
w21+w22=a21+2a1a2C2+a22
q2=±arccosw21+w22−a21−a222a1a2
(a1+a2C2)C1+(a2S2)S1=w1(−a2S2)C1+(a1+a2C2)S1=w2
S1=a2S2w1+(a1+a2C2)w2(a2S2)2+(a1+a2C2)2C1=(a1+a2C2)w1−a2S2w2(a2S2)2+(a1+a2C2)2
q1=atan2[a2S2w1+(a1+a2C2)w2,(a1+a2C2)w1−a2 S2w2]
q3=d1=d4−w3
q4=πln|w6|
q4=q1−q2−q1−2−4
Complete Solution:
Following is the complete algorithm for a four-axis SCARA robot.