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Typical World Coordinates Are: Pos X-Axis Right Pos Y-Axis Back Pos Z-Axis Up

This code computes the inverse kinematics to position a robotic arm given target coordinates in 3D space. It first transforms the target coordinates to account for the base rotation, then calculates the wrist position based on gripper orientation and length. Using cosine laws, it derives the angles for shoulder, elbow, and wrist joints to reach the target, accounting for link lengths. Finally, it converts the angles to the robot coordinate system to interface with motors.

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SabrinadeFera
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287 views

Typical World Coordinates Are: Pos X-Axis Right Pos Y-Axis Back Pos Z-Axis Up

This code computes the inverse kinematics to position a robotic arm given target coordinates in 3D space. It first transforms the target coordinates to account for the base rotation, then calculates the wrist position based on gripper orientation and length. Using cosine laws, it derives the angles for shoulder, elbow, and wrist joints to reach the target, accounting for link lengths. Finally, it converts the angles to the robot coordinate system to interface with motors.

Uploaded by

SabrinadeFera
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Typical world coordinates are:

Pos X-axis right


Pos Y-axis back
Pos Z-axis up

ga

Elbow
ew
Wrist

se
sw
Shoulder

sw/gnd

bs

Target at xt/yt/zt
Move base to atan(xt/yt) => new yt'=(x2+y2), xt' = 0
Problem is 2D only now
Define grip angle ga (this is a boundary condition)
Compute wrist position yw/zw from yt',zt using ga and
length of gripper
Compute shoulder-wrist distance sw from wrist position
(shoulder has y=0 !)
Compute angle of sw relative to ground
Use cosine law (c2 = a2 + b2 - 2abcos ) to compute
angles sw/se and se/ew
Compute shoulder angle from sw/gnd and sw/se
Done in world coordinates!
Needs transformation to system (robot) coordinates and
Motor interface (e.g. servos pulse lengths)
Cosine law

Gripper
gr
Target
zt

Base
Xt,yt => yt'
A. Kugel
http://rg-asc.ziti.uni-heidelberg.de/esr

Code derived from


https://www.circuitsathome.com/mcu/robotic-arm-inverse-kinematics-on-arduino
bool set_arm( float x, float y, float z, float grip_angle_d )
{
// we have a couple of (pseudo) constants which could be pre-computed. Adapt to your specific robot
// my system has a wrist rotor (6DOF arm) which sits between wrist and gripper. If you don't have this
// remove the wr element
float bs = jointParms[0].height; float se = jointParms[1].height; float ew = jointParms[2].height;
float wg = jointParms[3].height; float wr = jointParms[4].height; float gr = jointParms[5].height;
This code assumes a given grip orientation. Of course, a
// effective gripper/wrist length is wg + wr + some fraction of gr to hold target tight
fixed angle will not work for all target positions. You will need
float grp = wg + wr + .75*gr;
to re-compute with a different angle if the value are out of
float se2 = se*se; // squared values
range. Steps of ~30 seem reasonable from my testing.
float ew2 = ew*ew;
// and a couple of local variables
// assume positive y direction is to front. Compensate at higher level if neccesaary
float ba = degrees(atan2( x, y )); // base angle to cancel x
float yt,zt, yw,zw; // transformed positions of target and wrist after x-cancelation
float sw2,sw; // computed length shoulder to wrist and squared
float gar, sa, ea, wa, sw_gnd, sw_se, se_ew, ew_gr; // computed angles in rad, world coordinates
// compute target position after x transform
yt = sqrt(( x * x ) + ( y * y ));
zt = z; // z unchanged
// compute wrist position. assume grip_angle_d = 0 is horizontal, positive value is upwards hence wrist for pos angle will be BELOW target
gar = radians(grip_angle_d); // we subtract the base height later( or here and then also from shoulder)
// final step is to transform into robot coordinates
zw = zt - grp*sin(gar);
// the following transformations depend on the actual robot
if (0.0 > zw) return false; // shouldn't be negative
// my system ....
yw = yt - grp*cos(gar);
// all joints (except base) rotate along X-axis
if (0.0 > yw) return false;
// 0 is upright (in Z) orientation
// compute sw, distance shoulder (at y=0) and wrist. compensate base height if not subtracted already
// increasing angles rotate towards front (follow "right hand rule",
sw2 = (zw-bs)*(zw-bs) + yw*yw; // squared
positive
X to right)
sw = sqrt(sw2);
sa
=
90
- sa; // 0 arm = 90 world, 0 world = 90 arm
// angle of sw relative to gnd
ea
=
180
- ea; // residual angle from triangle cosine law
sw_gnd = atan2((zw-bs), yw);
calculation
// angle sw to se via cosine law see drawing
wa = -wa;
// negated
sw_se = acos((sw2 + se2 - ew2) / (2*se*sw));
if
(0.0
<
ba)
ba
=
180.0
- ba;
// angle se to ew via cosine law
else
ba
=
-(180.0
+
ba);
se_ew = acos((ew2 + se2 - sw2) / (2*se*ew));
// shoulder angle relative to gnd: sw_gnd + sw_se. needs conversion as 0 angle is up in servo world
(!(isnan(ba) || isnan(sa) || isnan(ea) || isnan(wa))) {
sa = degrees(sw_gnd + sw_se);
if (!jointSetAngle( 0, ba)) return false ;
// elbow angle , converted
if (!jointSetAngle( 1, sa)) return false ;
ea = degrees(se_ew);
if (!jointSetAngle( 2, ea)) return false ;
// wrist angle: target grip angle minus elbow minis shoulder
if (!jointSetAngle( 3, wa)) return false ;
// initially, wrist is pointing to the direction given by shoulder and ellbow
}
else
{
wa = sa - (180 - ea);
return false;
// offset to point the gripper to the target direction
}
wa = grip_angle_d - wa;
return true;
// this is the end of world coordinate computation ...
// convert to robot =>
}
A. Kugel
http://rg-asc.ziti.uni-heidelberg.de/esr

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