Robotics lll

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SLIDESMANIA.COMTEMARY2021 UNIT 3NOVEMBERCinemática InversaV-REP -Inverse-KinematicsIntroduction1.- Basics on IK groups and IK elements Salvador Pintor Castillo2.- Conveyor belt Salvador Pintor Castillo3.- Proximity Sensor (Ray type) Salvador Pintor Castillo4.- Dummy (Release position and box) Salvador Pintor Castillo5.- Code for the customizable conveyor Marcelo Martinez Raul6.- Code for the conveyor belt Marcelo Martinez Raul7.- Kuka robotic arm (PUMA) Marcelo Martinez Raul8.- Customizable conveyors script Perez Muñoz Jose9.- Conveyor belt's script Perez Muñoz Jose10.- KUKA LBR iiwa 14 R820 Perez Muñoz Jose
UNIT 3Basics on IK groups and IK elementsCoppeliaSim uses IK groups and IK elements to solve inverse and forward kinematics tasks. It isimportant to understand how an IK task is solved in order to take full advantage of the kinematicsfunctionality in CoppeliaSim. Make sure to have a look at the various example scenes related to IK and FKin folder scenes/kinematics.An IK task is defined by an IK group, which contains one or more IK elements:· IKgroup : an IK group contains one or more IK elements. To solve the kinematics of a simple kinematicchain, one IK group containing one IK element is needed. The IK group defines the overall solvingproperties (such as the solver, the number of iterations, etc.).· IK element: an IK element represents a simple kinematic chain, which is a linkage containing at leastone joint in IK mode. The chain is specified by a tip, indicating the end-effector (usually the last object inthe chain), and a base, indicating the base object (or first object) in the chain, and a target for the tip tofollow. In short, an IK element is made up by:· a base, which represents the start of the kinematic chain.· several links (any type of object except joints in IK mode). Joints which are not in IK mode are howeveralso considered as links (in that case they behave as rigid joints (joints with a fixed linear/angularposition)).· several joints. which need to be in IK mode, otherwise they are considered as links (see above).· a tip. The tip is usually the last object in the considered kinematic chain (when going from the base tothe tip), and is often the end-effector. The tip object should be linked to a target object (see hereafter).· a target. The target represents the position and/or orientation the tip should adopt (or follow) whensolving for IK. The target object should be linked to a tip object (see hereabove).Following figures show two kinematic chains as they are described via IK elements. The two IK elementsperceive the two chains in a similar way (the very first joint of the second example is ignored by the IKelement):PAG. 2Salvador Pintor CastilloSLIDESMANIA.COM
Page 1: TechnologyUNIT 3 NOVEMBER 2021ROBOT
Page 5 and 6: UNIT 3[Two separate IK chains and c
Page 7 and 8: NOVEMBER 2021 PAG. 6SOME OF IT’S
Page 9 and 10: UNIT 3 PAG. 8In the scene object pr
Page 11 and 12: NOVEMBER 2021 PAG. 10Code for the c
Page 13 and 14: NOVEMBER 2021 PAG. 12Code for the c
Page 15 and 16: NOVEMBER 2021 PAG. 14KUKA ROBOTIC A
Page 17 and 18: NOVEMBER 2021 PAG. 16Conveyor belt'
Page 19: NOVEMBER 2021 PAG. 18With learning

Robotics lll

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