New answers tagged inverse-kinematics
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Nope, you cannot simply plug the maximum joint velocities in the differential forward kinematic law, as you need to guarantee that $\mathbf{v}$ will always point toward the target: in fact, $\mathbf{v}$ is a vector.
As a result, you need to solve the inverse kinematics problem first for each point of the path. This can be done iteratively:
Assign a desired $...
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3 motors from the base decide the xyz position of the end effector and the other 3 on the tip decide the rotation of it. This is a really simple model as Steve mentioned. I don't know how much speed do you need but it will easily reach 10kHz and over to numerically solve the inverse kinematics with a modern computer and modern lib such as ceres.
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Closed-form inverse kinematic equations are used to determine joint angles based on the end effector pose. These equations are well established in the literature. For example, the classic robotics books by Craig or by Paul show the equations for typical 6dof industrial arms.
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This question is a bit too broad to answer here. I recommend you find a good robotics manipulation textbook and work through it. Here are three classics:
Robotics: Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Available on Amazon or pdf.
Robot Modeling and Control by Mark W. Spong, Seth ...
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You can set the angular velocity to whatever you want, that's the control input and depends on the algorithm. You have to set it to be something proportional to the difference in the desired angle (from the intercept trajectory) and the actual angle as measured. You then update the desired angle and velocity and re-calculate.
Try this:
https://robotics....
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can we have the same TCP position and orientation for multiple configuraiton angles of the robot
Sure!
The number of DOF of a manipulator tells us if it's possible or not to reach a pose (position + orientation) in the operational space at hand (usually 6-dimensional).
Examples
If we work in a 6D operational space, then we are required to have at least a 6-...
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