Determination of instrument parameters for Robert Wrist with offset

摘要

The method of determining kinematic parameters, allows robot wrist to orient arbitrarily without regard to the position of robot arm when attaching robot wrist with three joints having offset. The method involves determining the torsion angle(alpha4) first with regard to torsion angles(alpha4, 5) between rotational axes of three articulations constituting the robot wrist; magnitude of the torsion angle(alpha5) is determined to be equal to torsion angle(alpha4"). The robot wrist having an offset link can take arbitrary posture at any position, only when torsion angles(alpha4, 5) are decided by some calculation formulas.