Inverse Kinematics of a 6-DoF Industrial Robot (Yaskawa GP12)

[@matteoverardo8005]

Dear Arun, thank you very much for this video. Do you have a pdf file of the notes you are explain in this video? I think you are using Matlab, is is possible to have the code as well?

[@Moveingout]

Could you pls shared the mathlab code for theta4,5,6?

[@williamhuang5329]

Hanzhen harmonic drive gear , strain wave reducer,
robot gear joint, over 30 years experience

[@arinjayagrawal9814]

Sir could you share the matlab code and tasks please? That would be really helpful ☺

[@sajithwickramanayake9511]

Sir if you can please state Q1,2,3 also. Because students need to identify basic steps before going further more

[@riteshsharma8315]

Sir I tried the same solution for 3R in python but somehow I am getting different values. I've tried checking this many times but couldn't come up with the solution
import numpy as np
x=795
y=0
z=1264
d1=450
a1=155
a2=614
a3=np.sqrt(200**2+640**2)
print(a3)
#first joint angle
alpha=np.arctan2(200,640)
#print(alpha)
theta1=np.arctan(y/x)
v1=np.cos(theta1)-a1
exd=x/v1
ezd=z-d1
v2=(exd**2+ezd**2)-(a2**2+a3**2)
v3=2*a2*a3
v4=v2/v3
#print('
',v4)
theta3=-np.arccos(v4)
theta2=np.arctan2(ezd,exd)-np.arctan2((a3*np.sin(theta3)),(a2+(a3*np.cos(theta3))))
theta1yaskawa=theta1*180/np.pi
theta2yaskawa=theta2*180/np.pi
theta3yaskawa=(theta3+(np.pi/2-alpha))*180/np.pi
print(theta1yaskawa,'
')
print(theta2yaskawa,'
')
print(theta3yaskawa)
Maybe I am doing something wrong but cannot point out where

[@bp3d106]

You have x/(cos(theta1)-a1) instead of x/cos(theta1) - a1 due to the v1.

[@abdelkaderouhssain7903]

can you sur to give us this folder please.

[@ArunUdai]

You can download the datasheets directly from the manufacturer's website. Like in this case it is Yaskawa GP-12 Robot