ECSE/EMAE/CSDS 489 Fall 2022 Programming Assignment # 2

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ECSE/EMAE/CSDS 489 Fall 2022
Programming Assignment # 2
Intelledex Inverse Kinematics

1 Introduction

In this programming assignment, we will explore the inverse kinematics problem for the Intelledex robot. In the inverse kinematics problem, the joint angles are determined for a given end effector pose. For some robots, the inverse kinematics can be solved in closed form. The Intelledex is a robot of this type.

In this programming assignment, you are required to write a program to solve the inverse kinematics problem for the Intelledex robot. Given an end effector pose, your programs needs to calculate the multiple set of joint angles which result in this end effector pose.

2 Inverse Kinematics Programs

Your programs need to calculate the sets of joint angles given an end effector configuration, g ∈ SE(3). Create subroutines for each of the subproblems and use the subroutines to solve the inverse kinematics. Writing the program in Matlab is highly recommended but not required.

The relationship between the tool frame and the spatial frame for this assignment is shown in Figure 1 for the zero configuration. The dimensions of the Intelledex are given as well as the positive directions for the revolute twists.

The absolute motor positions in the home configuration shown in Figure 1 are (−0.003, −0.002, 0.000, 0.000, 0.000, −1.571) radians, which you need to take into account when moving the motors to the position determined by your inverse kinematics program.

2.1 Write-up

• Provide a listing of your program to calculate the inverse kinematics.
• Use your program to calculate the joint angles for the following tool frame orientation:

and provide a listing of the solutions.
• Do you have the maximum number of theoretical solutions? If not, what are the reasons(joint limits, no solution for one of the subproblems, ...)?

Figure 1: Zero Configuration for the Intelledex Robot

2.2 Hint

You can check the solutions you get out of your inverse kinematics program by using the forward kinematics algorithms you have developed in the first programming assignment to generate your own test configurations where you already know one inverse kinematics solution. You can also check the validity of you inverse kinematics solutions by running each of them through the forward kinematics calculations and checking if you get the original end effector configuration. 

Here are some test data that you can use to check your subproblem solutions:


where (ω1 and ω2 are both passing through r).

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