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The choice of the orientation of the end-effector is arbitrary. Normally, the designer of the robot decides on it and mentions it in the product specification manual. If you design a robot, you can keep the orientation however you want. The only thing to be careful about is that once it is decided, it is kept constant throughout the analysis. For this question here, we assumed that it was already decided by the designer and was mentioned in the question. Hope that clarifies the confusion.
Hi, This doubt is not regarding forward kinematics but wrt inverse kinematics. Will there always be the variations of 5 to 6 cms in the final result of the end effector position from inverse kinematics as compared to the actual values assumed. I have been using the most common technique of solving i.e solving inverse position first and then inverse orientation. If there is any other way to solve it please guide me.
There shouldn't be any variation in the result. You might loose some accuracy if you are doing it manually due to the number of decimal places you use when working with trigonometric functions but if you are using a software such as MATLAB, you should get the exact answer. The technique that you talked about is the one that I use and recommend. I am going to be making a video on it soon so maybe that will help to see if you are doing something wrong.
Thank you so much. Will be eagerly waiting for it. Till you release the video. Can you please share any reference materials which you are using to develop the equation. It would be of great help as I have been working on this problem for many days and struck with this one issue.
@@malladinagasubhash I will be using the equations and derivations that I have in my notebook. You should be able to find a lot on how to solve inverse kinematics in the following books: - Introduction to Robotics: Analysis, Control and Applications, Niku, Wiley - Introduction to Robotics: Mechanics and Control, Craig, Pearson (a very widely used textbook, a real pain at times) - Modern Robotics: Mechanics, Planning and Control, Lynch & Park, Cambridge (prepare for your head to spin)
The orientation of the end-effector's frame is defined by the company designing the robot. It can be defined in any way. For this question, it was defined as drawn in purple. If it isn't defined, then you are free to define it as you feel like. But in reality, most robot makers such as Fanuc, ABB, Yaskawa, Comau etc pre-define the orientation frame of the end-effector.
✍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
How did you decide the frame of the end effector at the start? Was it by using DH parameters?
The choice of the orientation of the end-effector is arbitrary. Normally, the designer of the robot decides on it and mentions it in the product specification manual.
If you design a robot, you can keep the orientation however you want. The only thing to be careful about is that once it is decided, it is kept constant throughout the analysis.
For this question here, we assumed that it was already decided by the designer and was mentioned in the question. Hope that clarifies the confusion.
Hi, This doubt is not regarding forward kinematics but wrt inverse kinematics. Will there always be the variations of 5 to 6 cms in the final result of the end effector position from inverse kinematics as compared to the actual values assumed.
I have been using the most common technique of solving i.e solving inverse position first and then inverse orientation.
If there is any other way to solve it please guide me.
There shouldn't be any variation in the result. You might loose some accuracy if you are doing it manually due to the number of decimal places you use when working with trigonometric functions but if you are using a software such as MATLAB, you should get the exact answer.
The technique that you talked about is the one that I use and recommend. I am going to be making a video on it soon so maybe that will help to see if you are doing something wrong.
Thank you so much. Will be eagerly waiting for it. Till you release the video. Can you please share any reference materials which you are using to develop the equation. It would be of great help as I have been working on this problem for many days and struck with this one issue.
@@malladinagasubhash I will be using the equations and derivations that I have in my notebook. You should be able to find a lot on how to solve inverse kinematics in the following books:
- Introduction to Robotics: Analysis, Control and Applications, Niku, Wiley
- Introduction to Robotics: Mechanics and Control, Craig, Pearson (a very widely used textbook, a real pain at times)
- Modern Robotics: Mechanics, Planning and Control, Lynch & Park, Cambridge (prepare for your head to spin)
i did not understand why was the orientation of the axis of the end effector not the same as the fixed frame point? please answer sir
The orientation of the end-effector's frame is defined by the company designing the robot. It can be defined in any way. For this question, it was defined as drawn in purple. If it isn't defined, then you are free to define it as you feel like. But in reality, most robot makers such as Fanuc, ABB, Yaskawa, Comau etc pre-define the orientation frame of the end-effector.
Does that answer your question?
Plz do kinematics for Parallel robot
By parallel, do you mean of delta robot?