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PUMA 560 Kinematics and DH Parameters

The document discusses the kinematics of a PUMA 560 robot. It covers the forward kinematics using Denavit-Hartenberg parameters and the inverse kinematics using a technique called kinematic decoupling. Kinematic decoupling separates the inverse kinematics problem into first finding the wrist center position, then the wrist orientation. Several equations are derived and an example calculation is shown.

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faizan ahmad
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140 views16 pages

PUMA 560 Kinematics and DH Parameters

The document discusses the kinematics of a PUMA 560 robot. It covers the forward kinematics using Denavit-Hartenberg parameters and the inverse kinematics using a technique called kinematic decoupling. Kinematic decoupling separates the inverse kinematics problem into first finding the wrist center position, then the wrist orientation. Several equations are derived and an example calculation is shown.

Uploaded by

faizan ahmad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Robotics

Lecture 6
Kinematics of PUMA 560
PUMA 560

• 6R
PUMA 560

• 6R

12

2
PUMA 560

• 6R

0.5
Forward Kinematics DH Parameters
Example

i i

1 0 0 0 1 0 0 0

2 -90 0 0 2 -90 0 0

3 0 3 0 12 2

4 -90 4 -90 0.5 6

5 90 0 0 5 90 0 0

6 -90 0 0 6 -90 0 0
− 0
− −
Forward Kinematics _
=
0 0 0 1

Example
Inverse Kinematics

•Piper’s Solution (Kinematic Decoupling)


• Valid for most of the commercial robot
• Valid when last three axis intersects

• Example: for a six-DOF manipulator with a


spherical wrist, the inverse kinematics problem
may be separated into two simpler problems
• first finding the position of the intersection of the wrist axes called
the wrist center,
• then finding the orientation of the wrist
Inverse Kinematics: Using Kinematic
Decoupling for Position
− 0
_ − −
• =
0 0 0 1
Example
0.5
− 6
• = ⇒
0
⇒
0
1 1 1

−
• = ×

1
Inverse Kinematics: Using Kinematic
Decoupling for Position

• = ×

1
• Where are functions of third joint variables
• = + +
• = − − −
• = − + +
• Example
• = 0.5 −6 + 12
• =6 + 0.5
• =2
Inverse Kinematics: Using Kinematic
Decoupling for Position

− + − ( + − − )
• = ( − + )+ ( + − − )
+ + +

Example
0.5 −6 + 12 2 − 2
− ( )
0.5 −6 + 12 2 + 2
• = ( )+ ( ) = →1 ⇒
−0.5 −6 − 12
1 1

• where x,y,z are known inputs


Example
• Where are function of second and third joint variables
• = − + ⇒ 0.5 −6 + 12 2
• = + − − ⇒2
• = + + + ⇒ −0.5 −6 − 12
Inverse Kinematics: for Position

• Let's define = + +
• It will be = + + the dependence on (first joint
variables) is eliminated in r

• = + + + + +2 +2 −2
• Remember:
• is function of third joint variables
Inverse Kinematics: Using Kinematic
Decoupling for Position
• Simplification
• = + + →
• = − + →
• &
• Where
• =
• =−
• = + + + + +
• = +
• Three cases to find third joint variable.
• If =0
• If =0
• Else eliminate
Inverse Kinematics: Using Kinematic
Decoupling for Position
• Three cases to find third joint variable
• If =0
• Then = designed right hand side to be a function of 3rd joint variable.
• After substituting = , a quadratic equation arise.
• = , = →4
• If =0
• Then = designed right hand side to be a function of 3rd joint variable.
• After substitution eq. 3, a quadratic equation arise.
• Else eliminate
• − = + 2 squaring both sides
• + + +
• After substitution eq 3 a 4-degree equation arise, that can be solved.
Inverse Kinematics: Using Kinematic
Decoupling for Position
• Example
• As =0
• Then =
• = 12 − 144 + 184.25
• Putting r = 12.5 + 2 + −6 ⇒ consider( = 12.5, = 2, = −6)
• 144 − 12 + 12 = 0
• Substitution as eq 4 in above slide

0
• = [ ]
−20.17
• =0⇒ = 0, = 1; =0
• = −20.17 ⇒ = −0.9951, = −0.0989; = −174.32
Inverse Kinematics: Using Kinematic
Decoupling for Position
• After finding
• Use eq 2 for
• Use eq 1 for
Inverse Kinematics: Using Kinematic
Decoupling for Orientation
• Compute | as , and are knowns
• | = | ×
• Similarly, , , and can be computed.

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