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Mathematics required for Robotics

Moderated by: pturner

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pturner
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Joined:	Thu Jun 1st, 2006
Location:	Newcastle, Australia
Posts:	165

Posted: Tue Mar 13th, 2007 08:13 am

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This articles describes in detail the mathematics involved in Inverse Kinematics. The article presents full solutions for both Algebraic and Geographical solutions.

The article then goes on to apply the Inverse Kinematic solutions to show how a 2DOF robotic limb can track an elliptical trajectory.

Please see http://www.tribotix.info/Articles&Tutorials/ArticlesTutorials.htm

Any questions or comments are most welcome.

Jose
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Joined:	Sat Apr 21st, 2007
Location:	Barcelona, Spain
Posts:	19

Posted: Tue Sep 4th, 2007 10:34 pm

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Thanks! I hope use your doc to start recovering my lost math knowledge. Could you recommend any practical book about this subject?

carmila
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Joined:	Fri May 30th, 2008
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Posts:	1

Posted: Sat May 31st, 2008 02:59 am

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hi, i'm a new comer in here. today i read your topics, and i think that i have a problem with my robot.

i handle the 6 DOF robot and i will combine it to the machine. if i have several material(12) that move along with the screw's rotation(120rpm) from right side, and my robot grips a tool(from left side).

i want to make the robot moves as smooth and accurately as possible, so my tool(from robot) can reach the 1st material, move along with the material to the left side (4s, 600 mm) and come back again to the 7th material, move along 60mm,.. and so on

the material doesn't stop anyway. so, how i make the path? the parabolic ones and how to know how fast that i must set the robot?

material size: 100mm x 100mm x 150 mm

thanks before

pturner
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Joined:	Thu Jun 1st, 2006
Location:	Newcastle, Australia
Posts:	165

Posted: Sun Jun 1st, 2008 02:44 am

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Hi Carmilla,

so, how i make the path? the parabolic ones and how to know how fast that i must set the robot?
This is quite a challenge mathematically for a 6DOF robot arm. The article I wrote for a 2 DOF robot leg, this should help show you some fundamentals. Mathematically what you need to do as a start is try and define the intended trajectory as an equation, then see how you can do this using inverse kinematics.

I hope this helps somewhat, but with limited info this is the best I can do.

Good Luck,

Peter.

Last edited on Sun Jun 1st, 2008 02:46 am by pturner

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