4R动机器人逆运动学—基于MATLAB

4 is harder than 6:

Inverse kinematics for underactuated robots

Peter Corke

February 2014

Many low-cost hobby class robots, such as shown in Figure 1 have only 4 joints

(degrees of freedom). This document describes how to determine inverse kinematics for

such a robot using the Robotics Toolbox[1] for MATL AB.

Underactuation complicates the process of finding an inverse kinematic solution, and

it frustrates those who are new to robotics — those who just want to run the code and

Figure 1: The PhantomX robot sitting on my desk. The world frame {0} and the tool

frame {t} are shown. Note I’m using a book over the back feet to keep it from toppling

over.