For those watching, the first 3 joints controlling position and last 3 joints controlling orientation isn't always true for every 6-DOF arm. It is true for arms with "spherical wrists", where the arms are specifically designed to have the last 3 joints all share a common rotation point. This makes the inverse kinematics solvable analytically because, as the video points out, it makes the first 3 joints control wrist position and the last 3 joints control orientation. This means fast and exact solutions, which is desired for industrial arms, and is why almost every 6-DOf industrial arm is designed with a spherical wrist configuration.
Exactly! I am pinning this comment for everyone to see. I skipped mentioning it since I wanted to keep the video a little simple and not dive too much into the details (and make it intimidating for beginners). But, thank you so much for such an insightful comment. What I talked about is ONLY applicable for spherical wrist robots which are virtually all industrial robot arms but there can definitely be other 'non-spherical' wrists (I think UR5 is one such manipulator).
✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment). 👉Don't forget to SUBSCRIBE to the channel for more such videos & courses: bit.ly/Engineering-Simplified
For those watching, the first 3 joints controlling position and last 3 joints controlling orientation isn't always true for every 6-DOF arm.
It is true for arms with "spherical wrists", where the arms are specifically designed to have the last 3 joints all share a common rotation point. This makes the inverse kinematics solvable analytically because, as the video points out, it makes the first 3 joints control wrist position and the last 3 joints control orientation.
This means fast and exact solutions, which is desired for industrial arms, and is why almost every 6-DOf industrial arm is designed with a spherical wrist configuration.
Exactly! I am pinning this comment for everyone to see.
I skipped mentioning it since I wanted to keep the video a little simple and not dive too much into the details (and make it intimidating for beginners).
But, thank you so much for such an insightful comment. What I talked about is ONLY applicable for spherical wrist robots which are virtually all industrial robot arms but there can definitely be other 'non-spherical' wrists (I think UR5 is one such manipulator).
✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment).
👉Don't forget to SUBSCRIBE to the channel for more such videos & courses: bit.ly/Engineering-Simplified
Thank you.
You're welcome 🤗
Which simulation software you are using?
He is using RokiSim which is a deprecated version of RoboDK.
Yes, that is correct.