ROBOTICS

ENGINEERING
ME 406T

Unit-2
Kinematics and Dynamics
Inverse Kinematics
Outline
The Problem of Inverse Kinematics

Workspace

Solvability of Inverse Kinematic Model

Existence of Solution
Multiple Solution

Solution Techniques
Closed Form Solutions
The Problem of Inverse
Kinematics
The direct kinematic model specifies the end-
effector frame, frame {n} relative to the base
frame {0}, in terms of joint displacements,
which can be expressed as:

The other way round is the problem of Inverse

The Problem of Inverse
Kinematics
Definition of Inverse Kinematic problem is better
given by:

The determination of all possible and feasible

sets of joint variables, which would achieve the
specified position and orientation of the
manipulators end-effector with respect to the
base frame

The problem of direct and inverse

kinematics are of fundamental importance
for Industrial robots
The Problem of Inverse
Kinematics
Some Terms:

Configuration (Position and Orientation)

Configuration Space (Cartesian Space)

Joint Vector

Joint Vector Space (Joint Space)

The Problem of Inverse
Kinematics
Configuration as a function of Joint
Displacements:
The Problem of Inverse
Kinematics
Kinematic Descriptions
Workspace
The workspace of a manipulator is defined as
the volume of space in which the manipulator is
able to locate its end-effector

The workspace gets specified by the

existence or non-existence of solutions to
the inverse problem.

The region that can be reached by the origin of

the end-effector frame with at least one
orientation is called the reachable workspace
(RWS)

The space where the end-effector can reach

Solvability of Inverse
Kinematic Model
Inverse Kinematic is complex
It involves transcendental functions
Number of simultaneous equations is also
generally more than the number of unknowns,
making some of the equations mutually
dependent
Solvability of Inverse
Kinematic Model
Existence of Solutions
Point must lie within the RWS, better still DWS

Examine the direct kinematic model from

mathematical perspective

For a manipulator to have all position and

orientation solutions, the number of DOF n
(equal to the number of unknowns) must at least
match the number of independent constraints.
That is for general dexterous manipulation

n>=6
Solvability of Inverse
Kinematic Model
Multiple Solutions
Very common
Consider the following case: (Multiple solutions
due to parallel axes of revolute joints
Solvability of Inverse
Kinematic Model
Multiple Solutions
Trigonometric functions
Redundant Manipulator
Solution Techniques
Two Approaches:
Closed Form Approach
Numerical Approach

In closed form solution, joint displacement s are

determined as explicit functions of the position
and orientation of the end-effector.

Numerical Approach is iterative in nature

Closed Form Solutions
Closed form approach is a Algebraic approach

A composite approach based on direct

inspection, algebra and inverse transform is
used in this approach
Guidelines to obtain
Closed Form Solutions
Guidelines to obtain
Closed Form Solutions
(e) In the inverse kinematic model, the right hand
side of Direct Kinematic Model is known, while
the left-hand side has n unknowns (q1, q2, , qn).
The left hand side consists of product of n link
transformation matrices, that is

Also, Ti is a function of only one unknown qi.

i-1

Premultiplying both sides by the inverse of 0T1,

yields

Example-1: Articulated
Arm Inverse Kinematics
For the 3-DOF articulated arm, determine the
joint displacements for known position and
orientation of the end of the arm point
Example-1: T-Matrix
Let the position and orientation of the end-point
of arm be given by:
Example-1: Equating the
T-Matrices
We have from direct kinematic model:

Features?!
Example-1: Solution
Step-1: Finding the single ones
Example-1: Solution
Step-2: Inverse Transform Approach
Example-1: Solution
Step-2: Inverse Transform Approach
Example-1: Solution
Step-2: Inverse Transform Approach
Example-1: Solution
Step-3: The last unknown
Example-1: Solution
The above solution is one of the possible sets of
expressions

Can you think of alternate ways to find the same

solution? (With same or different techniques)
Example-2: Inverse
Kinematics of RPY Wrist
For the 3-DOF wrist, determine the solution for
three joint variables for a given end-effector
orientation matrix:
Example-2: T-Matrix
Let the end effector orientation matrix be given
by:
Example-2: Equating the
T-Matrices
We have from direct kinematic model:
Example-2: Solution
Use the approach of pre-multiplying:
Example-2: Solution
Finding the displacement variables:

What next?!
Example-2: Solution
Finding other displacements:
Example-2: Solution
Finding other displacements:
Example-2: Solution
Solution by post-multiplication:
Example-2: Solution
Finding unknowns:

On similar principles:
Example-3: Inverse
Kinematics of SCARA
Solve the problem of Inverse Kinematics for the
Manipulator
4-DOF SCARA Manipulator
Example-3: Equating the
T-Matrices
We have from direct kinematic model:

What are we looking for?

Example-3: Solution
Solution by inspection and
comparison:
Example-3: Solution
Solution by inspection and
comparison:
Example-3: Solution
Solution by inspection and
comparison:

Let,
Example-3: Solution
Solution by inspection and
comparison:
From previous slide:
Example-3: Solution
Solution by inspection and
comparison:
Example-3: Solution
Existence of solution?

Multiplicity of Solution?
Example-4: 3-DOF
Manipulator
Consider the following 3-DOF
manipulator:
Example-4: 3-DOF
Manipulator
The position and orientation of point P in
Cartesian space is given by:

Determine all the joint variables.

The joint limits are given by:
-100 < 1 < 100,
-30 < 2 < 70 and
0.05 m < d3 < 0.5 m
Example-4: 3-DOF
Manipulator
Home Position:
Example-4: 3-DOF
Manipulator
Frame Assignment:
Example-4: 3-DOF
Manipulator
Joint Link Parameters: (Following are given in the
book but are inconsistent with the Frame
assignment)

Following should be the Joint Link Parameters

with reference to the Frame Assignment given in
previous slide:
Example-4: 3-DOF
Manipulator
Next Steps:

Identify T-matrices
Prepare Kinematic Model
Equating T-matrices for solution
Compare Elements or use inverse
transforms for Solution of variables
Example-4: 3-DOF
Manipulator
Point to highlight:

Once you identify the possible solutions,

note that not all solutions are feasible.
Verify the consistency of possible
solutions with the constraints, in order to
find the feasible solution.
Example-5: 4-DOF RPPR
Manipulator
Consider a 4-DOF RPPR Manipulator with
following T-Matrices:
Example-5: 4-DOF RPPR
Manipulator
Find the joint variables, if the tool
configuration matrix is given as follows:
Example-5: 4-DOF RPPR
Manipulator
Kinematic Model:
Example-5: 4-DOF RPPR
Manipulator
Kinematic Model:
Example-5: 4-DOF RPPR
Manipulator
Solution?
(By Comparison)
Stay Golden !