Lab05: Inverse kinematics

The goal is to implement numerical inverse kinematics for arbitrary planar manipulator and analytical inverse kinematics for RRR manipulator.

Numerical IK

Generated by a script exercise/lab05/01_numerical_ik.py:

../../_images/lab05_solution_numerical_ik.gif

Analytical IK

Generated by a script exercise/lab05/02_analytical_ik.py:

RRR (mandatory)

../../_images/lab05_solutions_analytical_ik_rrr.png

PRR (optional)

../../_images/lab05_solutions_analytical_ik_prr.png

Tests

Mandatory HW:

  • robotics_toolbox/robots/planar_manipualator.py

    • implement numerical IK in ik_numerical functions

    • implement analytical IK of RRR manipulator in ik_analytical functions

Optional HW:

  • robotics_toolbox/robots/planar_manipualator.py

    • implement analytical IK of PRR in ik_analytical functions

If following tests will pass, your implementation is correct:

`bash pytest tests/hw05/mandatory pytest tests/hw05/optional `

At the end of the lab, you should answer the following questions:

  • how many solutions numerical/analytical IK have?

  • why analytical solution is not used for high DoF robots?