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Robotics_Toolbox >> Robotics_Toolbox > SerialLink > ikine

ikine

Inverse manipulator kinematics

Calling Sequence

Q = ikine(R, T)
Q = ikine(R, T, Q0, OPTIONS)
Q = ikine(R, T, Q0, M, OPTIONS)

Parameters

OPTIONS :

key/value

'pinv' :

use pseudo-inverse instead of Jacobian transpose

'ilimit',L :

set the maximum iteration count (default 1000)

'tol',T :

set the tolerance on error norm (default 1e-6)

'alpha',A :

set step size gain (default 1)

'novarstep' :

disable variable step size

'verbose' :

show number of iterations for each point

'verbose=2' :

show state at each iteration

'plot' :

plot iteration state versus time

Description

Q = ikine(R,T) is the joint coordinates corresponding to the robot end-effector pose T which is a homogenenous transform.

Q = ikine(R,T, Q0, OPTIONS) specifies the initial estimate of the joint coordinates.

Q = ikine(R, T, Q0, M, OPTIONS) specifies the initial estimate of the joint coordinates and a mask matrix. For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates. In this case the mask matrix M specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The mask matrix has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value should be 0 (for ignore) or 1. The number of non-zero elements should equal the number of manipulator DOF.

For example when using a 5 DOF manipulator rotation about the wrist z-axis might be unimportant in which case M = [1 1 1 1 1 0].

In all cases if T is 4x4xM it is taken as a homogeneous transform sequence and ikine() returns the joint coordinates corresponding to each of the transforms in the sequence. Q is MxN where N is the number of robot joints. The initial estimate of Q for each time step is taken as the solution from the previous time step.

Notes

See also

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