122


which has found all the solutions to the inverse kinematics problem -of the 0M25 manipulator.



 Example 4: 0M37 Manipulator


 The most kinematically complex orthogonal manipulator class is the 11-111 (octal 37) class described by the DHparameters of Table 9-6 in which no two consecutive joint axes are parallel. In this example we will consider a

manipulator with the arbitrarily chosen kinematic parameters


 d= 0.2, d3 = 0.1, d4 =0.3, d5 = 0.4

 al = 0.5, a2 = 1.0, a3 =1.2, a4 = 0.5, a5 = 0.2,


so that there are no two consecutive axes intersecting either.

 The general two-dimensional Newton-Raphson method,

described in Chapter 7 for a general six-DOF manipulator, was programmed on a personal microcomputer and run with the

manipulator just described and the Cartesian end-effector pose



 1 0 0 1 0 0 -1 1/2
 P (9.60)
 0 1 0 -1/2 0 0 0 1

..