108
The kinematic inversion for the 11 points took 0.32 seconds which gives an average time per kinematic inversion of 29.1 milliseconds, clearly suitable for real-time high precision inverse kinematics.
-Example 3: The-OM25 Manipulator
In this example we present an orthogonal manipulator that can achieve a given end-effector pose in sixteen distinct configurations. Besides this interesting point, we discuss this manipulator to show the power of the simple iterative techniques developed in this dissertation not only as fast inverse kinematic methods, but also as interactive inverse kinematic analysis tools capable of finding all the solutions for certain manipulators. The OM25 manipulator is illustrated in Figure 9.3 and its DH-parameters are listed in Table 9-4.
Table 9-4. DH-parameters of 0M25 manipulator.
Joint d 9 a a
1 0 81 a1 7r/2
2 0 82 a2 0
3 d3 93 0 7r/2
4 0 84 a4 0
5 0 85 0 7r/2
6 0 86 0 0
..