On Mon, 10 Feb 2003 [email protected] wrote:
[...]
> A link, where I can find on the net the following articles:
> - R. Featherstone, ``Position and Velocity Transformations between
> Robot > End-Effector Coordinates and Joint Angles'',
> International Journal of Robotics Research, Vol. 2, No. 2, pp. 35-45,
> 1983, and
>
> - K. H. Low and R. N. Dubey, ``A Comparative Study on Generalized
> Coordinates for Solving the Inverse-Kinematics Problem of a 6R
> Robot Manipulator,'' International Journal of Robotics Research,
> Vol. 5, No. 4, pp. 69-88, 1986.
I am afraid these articles are not accessible on the net (copyright
issues, you know...). I have made a chapter of my robotics course
available on the web, where we use the same models and definitions of
joint angles. There are some figures there that may help in
understanding the whole thing. The URL of this file (PostScript) is:
<http://people.mech.kuleuven.ac.be/~bruyninc/serialkin.ps>
> Is the algorithms in the 'ZXXDWH' directory also good for 'ZXXXYZ'
> robots or not, and if not did someone implement them ?
> The same for 'ZYYDWH'.
>
Forget about the DWH (Dobbel Winkel Hand), which is a specific kinematic
design of (some old) KUKA robots; no other manufacturers have these
wrists, I guess.
The algorithms cannot blindly be copied from one convention (e.g.,
ZXXXYZ) to another one (e.g., ZXXZYZ). The differences between these
conventions lie in: different "zero" positions, and different axes around
which the joint rotate.
Herman
--
K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480
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