Inverse manipulator kinematics for Puma 560 like arm
q = ikine560(robot, config)
returns the joint coordinates corresponding to the end-effector homogeneous transform
. It is computed using a symbolic solution appropriate for Puma 560 like robots, that is, all revolute
6DOF arms, with a spherical wrist. The use of a symbolic solution means that it executes over 50
times faster than
for a Puma 560 solution.
A further advantage is that
allows control over the specific solution returned.
is a string which contains one or more of the configuration control letter codes
left-handed (lefty) solution (default)
right-handed (righty) solution
elbow up solution (default)
elbow down solution
wrist flipped solution
wrist not flipped solution (default)
Note that the dimensional units used for the last column of the
matrix must agree with the dimen-
sional units used in the
object. These units can be whatever you choose (metres, inches, cubits
or furlongs) but they must be consistent. The Toolbox definitions
SI units with dimensions in metres.
fkine, ikine, robot
R. P. Paul and H. Zhang, "Computationally efficient kinematics for manipulators with spherical
wrists," Int. J. Robot. Res., vol. 5, no. 2, pp. 3244, 1986.
Robert Biro and Gary McMurray, Georgia Institute of Technology, email@example.com
Robotics Toolbox Release 8
Peter Corke, December 2008