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Inverse kinematics
Prof. Alessandro De Luca
Robotics 1 1
Inverse kinematics
what are we looking for?
n WS2 Í WS1
Robotics 1 4
Workspace of Fanuc R-2000i/165F
section for a
constant angle q1
WS1⊂R3
(≈ WS2 for spherical wrist
without joint limits)
rotating the
base joint angle q1
Robotics 1 5
Workspace of planar 2R arm
2 orientations
if p Î int(WS1) l1+l2
y • p = WS1- ¶WS1
l2
q2
|l1-l2|
l1
q1 ¶WS1
outer and inner
x boundaries 1 orientation
n if l1 ¹ l2
n WS1 = {p Î R2: |l1-l2| £ ║p║£ l1+l2} ⊂ R2
n WS2 = Æ
n if l1 = l2 = ℓ
n WS1 = {p Î R2: ║p║£ 2ℓ} ⊂ R2
n WS2 = {p = 0} (infinite number of feasible orientations at the origin)
Robotics 1 6
Wrist position and E-E pose
inverse solutions for an articulated 6R robot
LEFT DOWN Unimation PUMA 560 RIGHT DOWN
4 inverse solutions
out of singularities
(for the position of
the wrist center only)
Robotics 1 7
Inverse kinematic solutions of UR10
6-dof Universal Robot UR10, with non-spherical wrist
video (slow motion)
desired pose
−0.2373
p = −0.0832 [m]
1.3224
3/2 0.5 0
R = −0.5 3/2 0
0 0 1
home configuration at start
0 = 0 −1/2 0 −1/2 0 0 T
[rad]
Robotics 1 9
The 8 inverse kinematic solutions of UR10
Robotics 1 10
Multiplicity of solutions
some examples
⇒ lmin= l3 = 0.3
⇒ 0.5
Rin= 0,
Robotics 1 13
Multiplicity of solutions
summary of the general cases
n if m = n
n ∄ solutions
n a finite number of solutions (regular/generic case)
n “degenerate” solutions: infinite or finite set, but anyway
different in number from the generic case (singularity)
n if m < n (robot is redundant for the kinematic task)
n ∄ solutions
n ¥n-m solutions (regular/generic case)
n a finite or infinite number of singular solutions
n use of the term singularity will become clearer when dealing
with differential kinematics
n instantaneous velocity mapping from joint to task velocity
n lack of full rank of the associated m n Jacobian matrix J(q)
Robotics 1 14
Dexter robot (8R arm)
n m = 6 (position and orientation of E-E)
n n = 8 (all revolute joints)
n ¥2 inverse kinematic solutions (redundancy degree = n-m = 2)
video
c2 = (px2 + py2 - l12 - l22)/ 2 l1 l2, s2 = ±Ö1 - c22 q2 = ATAN2 {s2, c2}
q1 a
px x
2 solutions
q1 = ATAN2 {py, px} - ATAN2 {l2 s2 , l1 + l2 c2}
(one for each value of s2)
note: difference of ATAN2 needs
to be re-expressed in (-p , p]!
q2’’
• p
{q1,q2}UP/LEFT q2’ {q1,q2}DOWN/RIGHT
l1 + l2c2 - l2s2 c1 px
=
l2s2 l1 + l2c2 s1 py
q3
q2
L3
d1 pz
{f, b} = facing, backing
the point p=(px, py, pz) py
px = c1 (L2c2+ L3c23)
direct four regular inverse
py = s1 (L2c2+ L3c23)
kinematics kinematics solutions in WS1
pz = d1+ L2s2+ L3s23
Note: more details (e.g., full handling of
WS1={spherical shell centered at (0,0,d1), with outer singular cases) can be found in the solution
radius Rout= L2 +L3 and inner radius Rin=|L2-L3|} of the Robotics 1 written exam of 11.04.2017
Robotics 1 21
Inverse kinematics of 3R elbow-type arm
L2
q3 px = c1 (L2c2+ L3c23)
q2 py = s1 (L2c2+ L3c23) direct
L3 kinematics
d1 pz pz = d1+ L2s2+ L3s23
py
q1
px
px2 + py2 + (pz-d1)2 = c12 (L2c2+ L3c23)2 + s12 (L2c2+ L3c23)2 + (L2s2+ L3s23)2
= ... = L22 + L32 + 2L2L3 (c2c23+s2s23) = L22 + L32 + 2L2L3 c3
c3 = (px2 + py2 + (pz-d1)2 - L22 - L32) / 2L2L3 ∈ [-1,1] (else, p is out of workspace!)
q1
px (being px2 + py2 = (L2c2+ L3c23)2 > 0)
Robotics 1 23
Inverse kinematics of 3R elbow-type arm
combine the first two direct kinematics
L2
equations and rearrange the last one
q3 c1px + s1py = L2c2 + L3c23
q2
L3 = (L2+L3c3) c2 – L3s3 s2
d1 pz pz – d1 = L2s2+ L3s23
py = L3s3 c2 + (L2+L3c3) s2
z0 j5 d6
j4
spherical n = 0x6(q)
wrist
s = 0y6(q)
a function of
q1, q2, q3 only!
a = 0z6(q)
p = 06(q)
Robotics 1 27
Operation of Newton method
n in the scalar case, also known as “method of the tangent”
n for a differentiable function f(x), find a root of f(x*)=0 by iterating as
an approximating sequence
animation from
http://en.wikipedia.org/wiki/File:NewtonIteration_Ani.gif
Robotics 1 28
Numerical solution of
inverse kinematics problems (cont’d)
Robotics 1 29
Revisited as a “feedback” scheme
q(0)
.
rd + e q ó q rd = cost
JrT(q) õ
-
r (a = 1)
fr(q)
. dt
V = 0 Û e Î Ker(JrT) in particular e = 0
asymptotic stability
Robotics 1 30
Properties of Gradient method
n computationally simpler: Jacobian transpose, rather than its
(pseudo)-inverse
n direct use also for robots that are redundant for the task
n may not converge to a solution, but it never diverges
n the discrete-time evolution of the continuous scheme
Robotics 1 31
A case study
analytic expressions of Newton and gradient iterations
n Jacobian matrix
det Jr(q)
ek
Robotics 1 32
Error function
n 2R robot with l1=l2=1, desired end-effector position pd = (1,1)
e = pd - fr(q)
2
plot of ║e║ as a function of q = (q1,q2) two local minima
(inverse kinematic solutions)
Robotics 1 33
Error reduction by Gradient method
n flow of iterations along the negative (or anti-) gradient
n two possible cases: convergence or stuck (at zero gradient)
start
one solution
.
local maximum
.
saddle point
(stop if this is the initial guess) (stop after some iterations)
another start...
Robotics 1 e Î Ker(JrT) ! 34
Convergence analysis
when does the gradient method get stuck?
pd
q2
q1
pd
pd e ∉ Ker(JrT) !!
e Î Ker(JrT) the algorithm will
proceed in this case,
moving out of
p the singularity
p (q1,q2)max =(-3π/4,0) (q1,q2) =(π/9,0)
Robotics 1 35
Issues in implementation
n initial guess q0
n only one inverse solution is generated for each guess
n multiple initializations for obtaining other solutions
n optimal step size a in Gradient method
n a constant step may work good initially, but not close to the
solution (or vice versa)
n an adaptive one-dimensional line search (e.g., Armijo’s rule) could
be used to choose the best a at each iteration
n stopping criteria
Cartesian error algorithm
(possibly, separate for ║rd - f(qk)║ ≤ ε ║qk+1-qk║ ≤ εq
increment
position and orientation)
n understanding closeness to singularities
numerical conditioning
σmin {J(qk)} ≥ σ0 of Jacobian matrix (SVD)
(or a simpler test on its determinant, for m=n)
Robotics 1 36
Numerical tests on RRP robot
n RRP/polar robot: desired E-E position rd = pd = (1, 1 ,1)
—see slide 20, with d1=0.5
n the two (known) analytical solutions, with q3 ≥ 0, are:
q* = (0.7854, 0.3398, 1.5)
q** = (q1*- p, p - q2*, q3*) = (-2.3562, 2.8018, 1.5)
n norms ε = 10-5 (max Cartesian error), εq =10-6 (min joint increment)
n kmax=15 (max # iterations), |det(Jr)| ≤ 10-4 (closeness to singularity)
n numerical performance of Gradient (with different steps a) vs. Newton
n test 1: q0 = (0, 0, 1) as initial guess
n test 2: q0 = (-p/4, p/2, 1) —”singular” start, since c2=0 (see slide 20)
n test 3: q0 = (0, p/2, 0) —”double singular” start, since also q3=0
n solution and plots with Matlab code
Robotics 1 37
Numerical test -1
n test 1: q0 = (0, 0, 1) as initial guess; evolution of error norm
0.57⋅10-5
Newton
ex
Cartesian errors
component-wise
very fast, converges
in 5 iterations ey
ez
Robotics 1 0.15⋅10-8 38
Numerical test -1
Robotics 1 39
Numerical test -2
n test 2: q0 = (-p/4, p/2, 1): singular start
with check of
Newton singularity:
blocked at start
error norms
without check:
it diverges!
Gradient
a = 0.7
!!
starts toward
solution, but
joint variables
slowly stops
(in singularity):
when Cartesian error
vector e ∈ Ker(JrT)
Robotics 1 40
Numerical test -3
n test 3: q0 = (0, p/2, 0): “double” singular start
joint variables
Robotics 1 41
Final remarks
n an efficient iterative scheme can be devised by combining
n initial iterations using Gradient (“sure but slow”, linear convergence rate)
n switch then to Newton method (quadratic terminal convergence rate)
n joint range limits are considered only at the end
n check if the solution found is feasible, as for analytical methods
n in alternative, an optimization criterion can be included in the search
n driving iterations toward an inverse kinematic solution with nicer properties
n if the problem has to be solved on-line
n execute iterations and associate an actual robot motion: repeat steps at
times t0, t1=t0+T, ..., tk=tk-1+T (e.g., every T=40 ms)
n the “good” choice for the initial guess q0 at tk is the solution of the previous
problem at tk-1 (provides continuity, needs only 1-2 Newton iterations)
n crossing of singularities/handling of joint range limits need special care
n Jacobian-based inversion schemes are used also for kinematic control,
along a continuous task trajectory rd(t)
Robotics 1 42