Inverse kinematics for 6-axis robot with spherical wrist
Q = ikine6s(ROBOT,T) Q = ikine6s(ROBOT,T, CONFIG)
valid character
arm to the left (default)
arm to the right
elbow up (default)
elbow down
wrist not flipped (default)
wrist flipped (rotated by 180 deg)
Q = ikine6s(ROBOT,T) is the joint coordinates corresponding to the robot end-effector pose T represented by the homogenenous transform. This is a analytic solution for a 6-axis robot with a spherical wrist (such as the Puma 560).
Q = ikine6s(ROBOT, T, CONFIG) as above but specifies the configuration of the arm in the form of a string containing one or more of the configuration codes:
Only applicable for an all revolute 6-axis robot RRRRRR
The inverse kinematic solution is generally not unique, and depends on the configuration string.
Joint offsets, if defined, are added to the inverse kinematics to generate Q.
[1] Inverse kinematics for a PUMA 560,Paul and Zhang, The International Journal of Robotics Research, Vol. 5, No. 2, Summer 1986, p. 32-44