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ikine6s

Inverse kinematics for 6-axis robot with spherical wrist

Calling Sequence

Q = ikine6s(ROBOT,T)
Q = ikine6s(ROBOT,T, CONFIG)

Parameters

CONFIG :

valid character

'l' :

arm to the left (default)

'r' :

arm to the right

'u' :

elbow up (default)

'd' :

elbow down

'n' :

wrist not flipped (default)

'f' :

wrist flipped (rotated by 180 deg)

Description

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:

Notes

Bibliography

[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

See also

Authors


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