This topic provides mutual verification of forward and inverse kinematics
Task1. forward kinematics
When you input a array [20 20 20 20 20 20 ] which represent six angles, the command window will show joint variable.
[n o a p]:
0.1058 -0.6425 0.7589 0.5776
0.7019 0.5889 0.4007 0.3688
-0.7044 0.4903 0.5133 0.1968
0 0 0 1.0000
output:
0.5776 0.3688 0.1968 34.8424 59.1189 27.8338
Task2. inverse kinematics
when you input a matrix
[0.1058 -0.6425 0.7589 0.5776; 0.7019 0.5889 0.4007 0.3688; -0.7044 0.4903 0.5133 0.1968; 0 0 0 1.0000;] which represent the joint variable , we can get six angles.
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
20.0007 20.0041 19.9897 19.9957 20.0025 20.0074
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta2 is out of range!
-134.8839 -127.2069 19.9897 19.1820 50.8906 -166.6135
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta3 is out of range!
theta4 is out of range!
20.0007 -52.7931 165.2995 171.6782 53.9171 -136.1984
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta2 is out of range!
theta3 is out of range!
theta4 is out of range!
-134.8839 -200.0041 165.2995 146.2406 27.3089 56.4731
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta4 is out of range!
20.0007 20.0041 19.9897 -160.0043 -20.0025 -159.9926
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta2 is out of range!
theta4 is out of range!
-134.8839 -127.2069 19.9897 -160.8180 -50.8906 13.3865
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta3 is out of range!
20.0007 -52.7931 165.2995 -8.3218 -53.9171 43.8016
Corresponding variable (theta1, theta2, theta3, theta4, theta5, theta6, theta7, theta8)
theta2 is out of range!
theta3 is out of range!
-134.8839 -200.0041 165.2995 -33.7594 -27.3089 -123.5269
To get more informations, please see report Robotics_Project1_312512061.pdf. We include the mathematical derivation.