Robotica industrial

Silvana Bez

19/07/17

1. Se desea conocer las coordenadas del vector V respecto al sistema fijo OXYZ (O sea
las coordenadas (Vx, Vy, Vz) si se conoce que dicho vector en el sistema mvil
OUVW es Vuvw(2,1,3). Adems, se conoce que el sistema OUVW sufri los
siguientes movimientos:
a. rotacin de 45 grados en torno al eje OZ
b. traslacin de 3 unidades a lo largo del eje OZ
c. traslacin de 2 unidades a lo largo del eje OX
d. rotacin de 30 grados en torno al eje OY
cos sin 0 0 2/2 2/2 0 0
sin cos 0 0
1 ((, ), 1 ) = [ ] = 2/2 2/2 0 0
0 0 1 3 0 0 1 3
0 0 0 1 [ 0 0 0 1]
cos 0 sin 0 1 0 0 2
0 1 0 0 0 1 0 0
(, )(2 ) = [ ][ ]
sin 0 cos 0 0 0 1 0
0 0 0 1 0 0 0 1
3 1
cos 0 sin 2 cos 0 3
2 2
0 1 0 0
=[ ]= 0 1 0 0
sin 0 cos 2 sin 1 3
0 0 0 1 0 1
2 2
[ 0 0 0 1 ]
3 1 2 2
0 3 0 0
2 2 2 2
(, )(2 )1 ((, ), 1 ) = 0 1 0 0 2 2
0 0
1 3
0 1 2 2
2 2 0 0 1 3
[ 0 0 0 1 ][ 0 0 0 1]
0.6124 0.6124 0.5 3.2321
0.7071 0.7071 0 0
=[ ]
0.3536 0.3536 0.866 1.5981
0 0 0 1

2 5.344
1 2.1213
[ ] = [ ] = [ ]
3 3.8426
1 1 1

2. Obtener la cinemtica directa e inversa del robot stanford

Articulacin
1 1 + 90 1 0 -90
2 2 + 90 2 0 90
3 0 3 0 0
4 4 0 0 -90
5 5 0 0 90
6 6 6 0 0

1 0 1 0
0 0 1 0
1 = [ 1 ]
0 1 0 1
0 0 0 1
2 0 2 0
1 0 2 0
2 = [ 2 ]
0 1 0 2
0 0 0 1
1 0 0 0
2 0 1 0 0
3 = [ ]
0 0 1 3
0 0 0 1
4 0 4 0
3 0 4 0
4 = [ 4 ]
0 1 0 0
0 0 0 1
5 0 5 0
4 0 5 0
5 = [ 5 ]
0 1 0 0
0 0 0 1
6 6 0 0
5 6 0 0
6 = [ 6 ]
0 0 1 6
0 0 0 1
 6 (5 (1 4 4 1 2 ) 2 1 5 ) 6 (1 4 + 1 2 4 ) 6 (5 (4 1 4 1 2 ) 2 1 5 ) 6 (4 1 + 1 2 4 ) 5 (14 4 1 2 ) 2 5 1 2 1 6 (5 (1 4 4 1 2 ) + 2 5 1 ) 3 2 1
= 6 (5 (1 4 + 1 4 2 ) + 1 2 5 ) 6 (1 4 + 1 2 4 ) 6 (5 (4 1 + 4 1 2 ) + 2 1 5 ) 6 (4 1 + 1 2 4 ) 1 2 5 5 (1 4 + 1 4 2 ) 3 1 2 6 (5 (1 4 + 1 4 2 ) 1 2 2 2 1 )
6 (2 5 2 4 5 ) + 2 4 6 2 6 4 6 (2 5 2 4 5 ) 5 2 2 4 5 1 6 (5 2 + 2 4 5 ) 3 2
[ 0 0 0 1 ]

0
5 = 06 6 (5 (14 4 1 2 ) 2 5 1 )
0
5 = 06 6 (1 2 5 5 (1 4 + 1 4 2 ))
0
5 = 06 6 (5 2 2 4 5 )

1 0 1 0 2 0 2 0 1 0 0 0 1 2 1 2 1 2 1 3 2 1
0
3 = 01 12 23 =
1 0 1 0 2 0 2 0 [0 1 0 0 ] = 1 2 1 1 2 2 1 + 3 1 2
0 1 0 1 0 1 0 2 0 0 1 3 2 0 2 1 3 2
[ 0 0 0 1 ][ 0 0 0 1] 0 0 0 1 [ 0 0 0 1 ]
1
1 03 = 12 23
0
1 0 1 0 3 2 0 2 0 1 0 0 0
1 0 1 0 0
3
=
2 0 2 0 [0 1 0 0]
0 1 0 1 0
3 0 1 0 2 0 0 1 3
[ 0 0 0 1 ][ 0 0 0 1 ] [ 0 0 0 1] 0 0 0 1
0
1 0 1 0 3 2 0 2 3 2
1 0 1 0 0
3
=
2 0 2 3 2
0 1 0 1 0
3 0 1 0 2
[ 0 0 0 1 ][ 0 0 0 1 ] [ 0 0 0 1 ]
5 cos 1 5 sin 1 = 2

5 1 sin2 5 sin = 2

5 (1 sin2 ) = (2 + 5 sin 1 )2

5 5 sin2 1 = 2 + 22 5 sin 1 + 5 2 sin2 1

 22 5 (22 5 )2 4(52 + 52 )(52 + 22 )
1 = arcsin
2(52 + 52 )
[ ]
5 = 3 sin(2 )
5
2 = arcsin ( )
3

(05 sin 1 05 cos 1 ) + (5 )2 = (3 cos )2 + (3 sin 2 )2

2
3 = (05 sin 1 05 cos 1 ) + (5 )2

5
2 = arcsin
5 5 2
2
( (0 sin 1 0 cos 1 ) + (5 ) )

6 = 4 5 6

4 0 4
4 = [4 0 4 ]
0 1 0
5 0 5
4
5 = [5 0 5 ]
0 1 0
6 6 0
5
6 = [6 6 0]
0 0 1
4 5 6 4 6 4 6 4 5 6 4 5
3
6 = [4 6 + 5 6 4 4 6 5 4 6 4 5 ]
6 5 5 6 5
0
3 = 1 2 3
1 0 1
0
1 = [ 1 0 1 ]
0 1 0
2 0 2
1
2 = [ 2 0 2 ]
0 1 0
1 0 0
2
3 = [0 1 0]
0 0 1
1 2 1 2 1
0
3 = [1 2 1 1 2 ]
2 0 1
1 2 1 2 2
0 1
( 3 ) = [ 1 1 0 ]
2 1 1 2 1
0
3
4 5 6 4 6 4 6 4 5 6 4 5 1 2 1 2 2 0
[4 6 + 5 6 4 4 6 5 4 6 4 5 ] = [ 1 1 0 ] 3
0
6 5 5 6 5 2 1 1 2 1 3
[0 0 0 1 ]
cos 5 = 2 sin 1 + cos 1 sin 1

5 = arccos( cos 2 sin 1 + cos 1 cos 2 sin 1 )

sin 5 6 = cos 2 sin 1 + cos 1 cos 2 sin 1
cos 2 sin 1 + cos 1 cos 2 sin 1
6 = arccos( )
sin 5
sin 4 sin 5 = cos 1 sin 1 + sin 1
cos 1 sin 1 + sin 1
4 = arcsin ( )
sin 5