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ikine3

Inverse kinematics for 3-axis robot with no wrist

Calling Sequence

Q = ikine3(R, T)
Q = ikine3(R, T, CONFIG)

Parameters

CONFIG :

valid character

'l' :

arm to the left (default)

'r' :

arm to the right

'u' :

elbow up (default)

'd' :

elbow down

Description

Q = ikine3(R, 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 3-axis robot (such as the first three joints of a robot like the Puma 560).

Q = ikine3(R, 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:

Notes

Bibliography

Inverse kinematics for a PUMA 560 based on the equations by Paul and Zhang, The International Journal of Robotics Research, Vol. 5, No. 2, Summer 1986, p. 32-44

See also

Authors


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