Serial6R.world File Reference

Detailed Description

A 6R loop with the following Denavit-Hartenberg parameters:

i			$\alpha_i$
1	0.3	0.0106	$\pi/2$
2	1	0	0.0175
3	0	0.2	$\pi/2$
4	1.5	0	0.0175
5	0	0	$\pi/2$
6	1.1353	0.1049	1.4716

With the above, the 6R serial chain has 16 solutions, the maximum possible number of solutions such a chain can have.

Note that if you change the Denavit-Hartenberg parameters the equations generated by cuikequation will be valid, but the representations generated by cuikanimate will be wrong. If you want to get a proper representation you have to adjust the shapes of the links.

See DoubleButterfly for an extensive step-by-step explanation of how to perform position analysis and path planning within the CuikSuite. Next, we briefly enumerate those steps:

Generate the equations: Execute
- cuikequations examples/Serial6R/Serial6R
Solve the positional analysis problem: Execute
- cuik examples/Serial6R/Serial6R_kin
Examine the solutions:
- Inspect the resulting solution file (Serial6R_kin.sol) with the original set of equations, the simplified set, the set of solutions and the statistics on the solving proces.
- Generate 3d projections of the solution points with cuikplot3d.
- Generate snapshots of the valid poses of the 6R chain using cuikanimate. For this it is better to store one solution at a time in a temporal sol file. In this case the animation produces a still image (otherwise the animation jumps between the valid, disconnected configurations).

Definition in file Serial6R.world.