逆運動学

単純な 2 次元マニピュレーターの逆運動学の計算

Closed loop linkages are widely used in automobiles, construction and manufacturing machines, and in robot manipulation. Although you cannot directly model closed-loop linkages with the rigidBodyTreeImportInfo object in Robotics System Toolbox™, you can still study the kinematics of closed-loop systems by combining a rigid body tree with constraints that mimic loop-closing joints. The constraintRevoluteJoint, constraintPrismaticJoint, and constraintFixedJoint constraint objects enable you to model loop-closing revolute, prismatic, and fixed joints, respectively. To kinematically model closed-loop linkages, use the constraints with a generalizedInverseKinematics solver to constrain the solutions to act as desired.

この例では、汎用逆運動学を使用して、ロボット マニピュレーターのジョイント空間での軌跡を計画する方法を説明します。複数の拘束を組み合わせて、グリッパーをテーブル上のカップに誘導する軌跡を生成します。これらの拘束により、グリッパーの姿勢を事前に決定しなくとも、グリッパーは確実にカップへと真っすぐ近づき、またグリッパーはテーブルから安全な距離を確保します。

Design a robotic manipulator path for a dispensing task. A successful path consists of a sequence of collision-free waypoints that are designed and verified in the Inverse Kinematics Designer app. Create waypoints for an adhesive dispensing task, in which the robot picks up two adhesive strips, applies glue, and then applies the strips to a box.