Example 4.05:: OAS Regional: Geometric Solution (MATLAB)

This example computes the inverse kinematics for the offset spherical regional structure via a geometric solution.

Clear All Workspace Objects and Reset All Assumptions
Structural Parameters
Position for the Wrist Center Origin $O_{W}$
Right-Shoulder Solution for $\theta_{1,R}$ , $\theta_{2}$ , and $d_{3}$

Clear All Workspace Objects and Reset All Assumptions

clear all

Structural Parameters

d2 = 18; % cm

Position for the Wrist Center Origin $O_{W}$

px = 18; % cm
py = 50; % cm
pz = 0; % cm

Right-Shoulder Solution for $\theta_{1,R}$ , $\theta_{2}$ , and $d_{3}$

theta1R = atan2d(py, px) + atan2d(d2, sqrt(px*px + py*py - d2*d2)) % deg
theta2 = -atan2d(sqrt(px*px + py*py - d2*d2), pz) % deg
d3 = sqrt(px*px + py*py + pz*pz - d2*d2) % cm

theta1R =

    90


theta2 =

   -90


d3 =

    50

This MATLAB example illustrates a computation from the textbook Fundamentals of Robot Mechanics by G. L. Long, Quintus-Hyperion Press, 2015. See http://www.RobotMechanicsControl.info for additional relevant files.

Example 4.05:: OAS Regional: Geometric Solution (MATLAB)

Contents

Clear All Workspace Objects and Reset All Assumptions

Structural Parameters

Position for the Wrist Center Origin

Right-Shoulder Solution for , , and

Position for the Wrist Center Origin $O_{W}$

Right-Shoulder Solution for $\theta_{1,R}$ , $\theta_{2}$ , and $d_{3}$