Question. Once you used the homogenous transforms to transform the world coordinate frame to the final coordinate frame, you said that the orientation of the axises would be same as the initial frame. but would the rotation elements in theta 1 to 6 change said orientation. Why exactly are we applying the last transfer with 90 degree angles?
Hi Aswin! I am unable to completely understand your question. As far as I understand, you are asking if the orientation of the world frame and the final end-effector frame is going to be the same? The answer is: No. The reason is that the Forward Kinematics allows the user to input any values for the joint angles (theta 1 thru theta6) and depending on these values, one gets the final orientation of the end-effector frame. As far as your second question goes which is the reason of applying the final 90 degree rotation, the answer is that in this particular example, we were already given the orientation of the base frame and the end-effector frame i.e. it is PRE-DEFINED. We were not given the liberty to choose the orientation of the end-effector frame. Therefore, to achieve the final orientation, we had to perform the last rotation in Y-axis by 90 degrees. If we do not do that, then the homogenous transform's orientation at the end DOES NOT match the orientation of the end-effector frame which is PRE-DEFINED. If the end-effector frame wasn't PRE-DEFINED in the question example, then there would be no need to perform the final 90 rotation about Y axis. However, then your final co-ordinate frame will be such that the Z-axis will be facing up (for the configuration of the robot shown in the picture). I hope that answers your questions. If there is any confusion, please feel free to let me know.
Question. Once you used the homogenous transforms to transform the world coordinate frame to the final coordinate frame, you said that the orientation of the axises would be same as the initial frame. but would the rotation elements in theta 1 to 6 change said orientation. Why exactly are we applying the last transfer with 90 degree angles?
Hi Aswin!
I am unable to completely understand your question. As far as I understand, you are asking if the orientation of the world frame and the final end-effector frame is going to be the same? The answer is: No. The reason is that the Forward Kinematics allows the user to input any values for the joint angles (theta 1 thru theta6) and depending on these values, one gets the final orientation of the end-effector frame.
As far as your second question goes which is the reason of applying the final 90 degree rotation, the answer is that in this particular example, we were already given the orientation of the base frame and the end-effector frame i.e. it is PRE-DEFINED. We were not given the liberty to choose the orientation of the end-effector frame. Therefore, to achieve the final orientation, we had to perform the last rotation in Y-axis by 90 degrees. If we do not do that, then the homogenous transform's orientation at the end DOES NOT match the orientation of the end-effector frame which is PRE-DEFINED.
If the end-effector frame wasn't PRE-DEFINED in the question example, then there would be no need to perform the final 90 rotation about Y axis. However, then your final co-ordinate frame will be such that the Z-axis will be facing up (for the configuration of the robot shown in the picture).
I hope that answers your questions. If there is any confusion, please feel free to let me know.
Can you please tell my from where these farward KM values come from. Is it from data sheet?
Very nice video
Thanks a lot.
I will reply to your questions in the other comments in a day or two.
i thought this is about blender inverse Kinematics))
Oh...I hope it was an interesting find