Solve Inverse and Direct Kinematics Problems

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francescodelduchetto edited this page Feb 15, 2024 · 8 revisions

Problem 3

Find the direct and inverse kinematics of a planar RR robot, shown in the picture. planarRR

Problem 4

Assign frames to the following robot (Fanuc CR-7iA) joints and a final "tool frame", in a way that the last three rotational joint axes (i.e. the wrist) are all incident.
Find the direct and inverse kinematics of a 6DOF robot with spherical wrist.

CR-7iA_frames

Credits

Parts for the workshops are extracted, edited from and/or inspired by the following sources.

Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/