• Download the library:
codeberg.org/UlyssesApokin/Ro...
• More details about the hierarchical approach to solving OZK:
cyberleninka.ru/article/n/ier...
00:00 - What will happen
00:12 - Theory
06:03 - Working with the rgm3_reverse_kinematic library
12:07 - Working with the rgm3_output library
13:44 - Writing a work program
24:50 - Compilation
25:14 - Adding output to the terminal
26:00 - Compilation
26:15 - Studying the program output
26:50 - Where to download and what to read
In this video you will learn what an inverse kinematics problem is, how to solve it, and also learn how to work with the C language library to solve the inverse kinematics problem, which can be freely downloaded from my repository.
Kinematics of the manipulator studies the geometry of the movement of the manipulator relative to the absolute coordinate system, without considering the forces and moments that generate this movement.
Accordingly, there are two problems that kinematics solves - direct and inverse.
The direct task sounds like this.
For a specific manipulator, using the values of generalized coordinates and geometric parameters of the links, determine the position and orientation of the manipulator grip relative to the absolute coordinate system.
The inverse problem of kinematics is completely opposite.
Find the values of the generalized coordinates, knowing the geometric parameters of the links and the position and orientation of the manipulator grip relative to the absolute coordinate system.
The main difficulty in solving the inverse kinematics problem is that, unlike the direct kinematics problem, there is no universal solution algorithm suitable for various robot configurations.
This video outlines a hierarchical approach to solving an inverse kinematics problem.
It is the simplest, most universal method for solving this problem, and allows you to obtain unambiguous results that do not require additional checks in a small number of iterations.
The idea behind the approach is as follows:
A limited set of joints necessary to implement the movement is selected.
These joints are assigned a sequence of movement and restrictions on that movement.
Then, using three simple rules, successive iterative approximations are made until the required solution accuracy is obtained.
required point.
Each generalized coordinate changes according to the formula:
q_i = q_{i-1} + sing(q_i) * delta_q_i,
The following checks are then made for this generalized coordinate:
- checking the influence of the generalized coordinate on the distance from the gripper to the target and/or on the orientation of the gripper;
- checking whether the generalized coordinate reaches the limits of its change established by the developer.
Depending on the results of the checks, the following actions are taken:
- If the distance to the target has decreased and/or the grip orientation has become closer to the desired one, then additional adjustments are not needed, we move on to the next generalized coordinate.
- If a change in the generalized coordinate has led to a distance from the target or an increase in the angular deviation from the target position, but its value has not yet reached the limits of change, the sign of the increment of this coordinate changes to the opposite.
- If the value of the generalized coordinate has reached the limits of change, then the corresponding increment also changes its sign. If, after changing the sign of the increment, the gripper is still moving away from the target, then the last change in the generalized coordinate is canceled.
In accordance with the idea of a hierarchical approach, the designer assigns a specific "role" in the implementation of a given movement.
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