Solving Forward Kinematics of Industrial Robot | Robotics 201
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- čas přidán 5. 09. 2024
- We do another example of the forward kinematics of an industrial robot in this video. The robot that we have is a 3-degree-of-freedom 3R robot with a robotic hand (gripper) that is commonly used for pick and place operations.
A quick recap: Forward kinematics involves finding the location and orientation of the end-effector (gripper) of the robot given the joint angles which are called robot parameters.
How to do it: We make use of homogenous transforms which takes the fixed frame (normally attached to the base of the robot) to the end-effector of the robot. This homogenous transformation matrix is a 4 x 4 matrix that tell us both the position and orientation.
❓ Do you have trouble understanding or find this concept difficult?
Watch the video on homogeneous transformations first: • Homogeneous Transforma...
✨Still find this difficult? I recommend watching another Forward Kinematics example: • Forward Kinematics of ...
▶️ Next video in this series: • Forward Kinematics of ...
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This video is part of the Robotics 201 tutorial series which covers kinematics and modeling of 3D robots.
This tutorial lesson series starts out from the very basics of robotics (assuming no prior knowledge) and gradually builds on in bite-sized videos of 10 minutes or less. By following along, you will soon become extremely good in the kinematics and modeling aspects of robots. And these will help you to design and build robots.
Here's what we will cover in this video series:
1. Co-ordinate Transformation for 3D robots
2. Homogeneous Transformations for 3D robots
3. Forward Kinematics
4. Inverse Kinematics
5. Robotic wrists (end-effector)
6. End-effector Velocities and Jacobians
7. Singularities of robots
8. Gimbal Locks
9. Forces & Torques
I will be uploading 1 video per week. If you find these helpful, don't forget to share and subscribe!
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👉If you haven't seen the Robotics 101 playlist first, I recommend you start there. It covers all of these concepts for 2D robots and this Robotics 201 playlist talks about the same concepts for 3D robots. Have a look here: • Robotics 101
Robotics 201 - Robotics full course for beginners - Kinematics and Modeling
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How did you decide the frame of the end effector at the start? Was it by using DH parameters?
The choice of the orientation of the end-effector is arbitrary. Normally, the designer of the robot decides on it and mentions it in the product specification manual.
If you design a robot, you can keep the orientation however you want. The only thing to be careful about is that once it is decided, it is kept constant throughout the analysis.
For this question here, we assumed that it was already decided by the designer and was mentioned in the question. Hope that clarifies the confusion.
✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment).
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Hi, This doubt is not regarding forward kinematics but wrt inverse kinematics. Will there always be the variations of 5 to 6 cms in the final result of the end effector position from inverse kinematics as compared to the actual values assumed.
I have been using the most common technique of solving i.e solving inverse position first and then inverse orientation.
If there is any other way to solve it please guide me.
There shouldn't be any variation in the result. You might loose some accuracy if you are doing it manually due to the number of decimal places you use when working with trigonometric functions but if you are using a software such as MATLAB, you should get the exact answer.
The technique that you talked about is the one that I use and recommend. I am going to be making a video on it soon so maybe that will help to see if you are doing something wrong.
Thank you so much. Will be eagerly waiting for it. Till you release the video. Can you please share any reference materials which you are using to develop the equation. It would be of great help as I have been working on this problem for many days and struck with this one issue.
@@malladinagasubhash I will be using the equations and derivations that I have in my notebook. You should be able to find a lot on how to solve inverse kinematics in the following books:
- Introduction to Robotics: Analysis, Control and Applications, Niku, Wiley
- Introduction to Robotics: Mechanics and Control, Craig, Pearson (a very widely used textbook, a real pain at times)
- Modern Robotics: Mechanics, Planning and Control, Lynch & Park, Cambridge (prepare for your head to spin)
i did not understand why was the orientation of the axis of the end effector not the same as the fixed frame point? please answer sir
The orientation of the end-effector's frame is defined by the company designing the robot. It can be defined in any way. For this question, it was defined as drawn in purple. If it isn't defined, then you are free to define it as you feel like. But in reality, most robot makers such as Fanuc, ABB, Yaskawa, Comau etc pre-define the orientation frame of the end-effector.
Does that answer your question?
Plz do kinematics for Parallel robot
By parallel, do you mean of delta robot?