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Paden-Kahan Subproblems are a set of solved problems which occur frequently in inverse kinematics analysis of common manipulator designs. Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots.
NOTE: FOR EACH PROBLEM, PRESENT A PROBLEM STATEMENT, A FIGURE, AND A SOLUTION.
List of Subproblems
Subproblem 1: Rotation About a Single Axis
Problem Statement
For a zero-pitch twist with unit magnitude ξ and two points p and q, find an angle θ such that... (PAGE 99 OF MLS)
Solution
Subproblem 2: Rotation About Two Subsequent Axes
Subproblem 2': Rotation About Two Non-Intersecting Axes
When the two axes do not intersect at a point...
Subproblem 3: Rotation to a Given Distance
Subproblem 4: Rotation About Two Axes to Given Distances
Subproblem 5: Translation to a Given Distance
Inverse Kinematic Solution
Example: SCARA Arm
Paden-Kahan subproblems may be used to obtain an inverse kinematics solution for a SCARA robot. [1] (EXAMPLE ON PAGE 106 OF MLS)
References
-
^ Sastry, Richard M. Murray ; Zexiang Li ; S. Shankar (1994).
A mathematical introduction to robotic manipulation (PDF) (1. [Dr.] ed.). Boca Raton, Fla.: CRC Press.
ISBN
9780849379819.
{{ cite book}}: CS1 maint: multiple names: authors list ( link)
External links
| This is not a Wikipedia article: It is an individual user's work-in-progress page, and may be incomplete and/or unreliable. For guidance on developing this draft, see
Wikipedia:So you made a userspace draft. Find sources:
Google (
books ·
news ·
scholar ·
free images ·
WP refs) ·
FENS ·
JSTOR ·
TWL |
Paden-Kahan Subproblems are a set of solved problems which occur frequently in inverse kinematics analysis of common manipulator designs. Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots.
NOTE: FOR EACH PROBLEM, PRESENT A PROBLEM STATEMENT, A FIGURE, AND A SOLUTION.
List of Subproblems
Subproblem 1: Rotation About a Single Axis
Problem Statement
For a zero-pitch twist with unit magnitude ξ and two points p and q, find an angle θ such that... (PAGE 99 OF MLS)
Solution
Subproblem 2: Rotation About Two Subsequent Axes
Subproblem 2': Rotation About Two Non-Intersecting Axes
When the two axes do not intersect at a point...
Subproblem 3: Rotation to a Given Distance
Subproblem 4: Rotation About Two Axes to Given Distances
Subproblem 5: Translation to a Given Distance
Inverse Kinematic Solution
Example: SCARA Arm
Paden-Kahan subproblems may be used to obtain an inverse kinematics solution for a SCARA robot. [1] (EXAMPLE ON PAGE 106 OF MLS)
References
-
^ Sastry, Richard M. Murray ; Zexiang Li ; S. Shankar (1994).
A mathematical introduction to robotic manipulation (PDF) (1. [Dr.] ed.). Boca Raton, Fla.: CRC Press.
ISBN
9780849379819.
{{ cite book}}: CS1 maint: multiple names: authors list ( link)
External links