KUKA Quantec
THA 4 ASBR Presentation
Frank Regal & Will Hancock
Introduction
Kuka Quantec [6DOF]
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Kuka Quantec Specifications
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{s}
y
x
z
{b}
y
x
z
* Specifications Accessed On 4/4/2022 Linked Here
Kuka Quantec Body Kinematics
*All angles in Radians
PA.A Linearize Distance Constraint
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PA.A Distance and Joint Constraints
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Distance Constraint [1]
Joint Constraint [1]
Constraint Matrix [1]
PA.h Inverse Kinematics Algorithm
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PA.A Waypoint Navigation
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PA.A Waypoint Navigation
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PA.B Distance, Joint, and Rotation Constraints
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Constraint Matrix [1]
Rotation Constraint [1]
PA.B Distance, Joint, and Rotation Constraints
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PA.B Distance, Joint, and Rotation Constraints
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PA.C Virtual Wall
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Virtual Plane Constraint [1]
PA.C Virtual Wall with No Rotation Constraint
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PA.C Virtual Wall With Rotation Constraint
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Challenges and Lessons
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References
[1] M. Li, A. Kapoor, and R. H. Taylor, “Telerobotic Control by Virtual Fixtures for Surgical Applications,” in Advances in Telerobotics, vol. 31, M. Ferre, M. Buss, R. Aracil, C. Melchiorri, and C. Balaguer, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007, pp. 381–401. doi: 10.1007/978-3-540-71364-7_23.
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Questions
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