To compute the reverse displacement analysis for a general Puma class robot in MATLAB, you can follow these steps:
puma560
function from the Robotics Toolbox for MATLAB:main.m18 chars2 lines
main.m89 chars5 lines
where x
, y
, and z
are the desired coordinates of the end-effector.
ikine
function to solve the inverse kinematics problem and compute the joint angles that achieve the desired end-effector pose:main.m27 chars2 lines
fkine
function to compute the forward kinematics:main.m28 chars2 lines
plot
functions from the Robotics Toolbox.main.m14 chars2 lines
These steps assume that the robot has a single set of joint angles that can achieve the desired end-effector pose, which may not always be the case. In such situations, a more sophisticated approach that involves multiple attempts to solve the inverse kinematics problem may be needed.
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