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Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
ISBN:
9780791861912
No. of Pages:
304
Publisher:
ASME Press
Publication date:
2019
eBook Chapter
5. Inverse Kinematics Analysis
Page Count:
25
-
Published:2019
Citation
Nickols, F, & Lin, Y. "Inverse Kinematics Analysis." Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots. Ed. Nickols, F, & Lin, Y. ASME Press, 2019.
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Servo angles, S1, S2, S3 as a function of Leg Tip cylindrical coordinates, R, Z, θ
5.1
Introduction: The story so far
5.2The meaning of ‘Inverse Kinematics’
5.3Description of the three degree-of-freedom (3dof) leg system
5.4Microcomputer architecture to control a multi-legged robot
5.5The Central Pattern Generator, the CPG
5.6Mechanical system geometry of the 3dof leg
5.7Kinematics analysis of the 3dof leg system
5.8Minimising the polar second moment of inertia of the leg system
5.9Coupled displacement of the leg tip
5.10Decoupling the leg system
5.11Deriving an inverse kinematics equation for S1 = f1(R, θ)
5.12Deriving an inverse kinematics equation for S2 = f2(R, θ, Z) in three stages
5.13Deriving an inverse kinematics equation for S3 = f3(R, θ, Z) in two stages
5.14Graphs of S1, S2 and S3 values at boundaries of the cylindrical coordinate frame
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