ikine560
25
ikine560
Purpose
Inverse manipulator kinematics for Puma 560 like arm
Synopsis
q = ikine560(robot, config)
Description
ikine560
returns the joint coordinates corresponding to the end-effector homogeneous transform
T
. 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
ikine
for a Puma 560 solution.
A further advantage is that
ikine560()
allows control over the specific solution returned.
config
is a string which contains one or more of the configuration control letter codes
'l'
left-handed (lefty) solution (default)
'r'
right-handed (righty) solution
'u'
elbow up solution (default)
'd'
elbow down solution
'f'
wrist flipped solution
'n'
wrist not flipped solution (default)
Cautionary
Note that the dimensional units used for the last column of the
T
matrix must agree with the dimen-
sional units used in the
robot
object. These units can be whatever you choose (metres, inches, cubits
or furlongs) but they must be consistent. The Toolbox definitions
puma560
and
stanford
all use
SI units with dimensions in metres.
See Also
fkine, ikine, robot
References
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.
Author
Robert Biro and Gary McMurray, Georgia Institute of Technology, gt2231a@acmex.gatech.edu
Robotics Toolbox Release 8
Peter Corke, December 2008