Easy-Rob-Type-Bl.
pdf
EASY-ROB
Robot Type RRR:RRR with Back Link
Overview about available Robot Types
The robot modeling feature
ROBMOD allows it to modify
and create new robot
kinematics. 5 different
kinematics types are
available.
RRR:RRR Standard robot
type with 6 degrees of
freedom (DOF). All joints are
revolute.
RRR:RRR Back Link robot
type where joint 2 and joint 3
are coubled by a so called
Back Link.
TTT:RRR Simple robot type
with 3 translational joints and
3 revolute joints.
The solution for the inverse
kinematics problem for these
three robot types is
solved analytical and
completely parameterized by
the robot kinematics lengths.
Robot Type RRR:RRR with Back Link
www.easy-rob.com
(65KB)
Two additionally robot
kinematics "Variable" types
are available to modell non
standard robots with less or
more than 6 DOF’s. The first
type can be
described in "Universal
Coordinates" up to 12 DOF’s
for active and passive
joints. Using the universal
type, it can e defined wether
the joints are rotational or
translational in/about X,Y or Z
direction. The second variable
type is based on Denavit
Hartenberg Parameters
(DH). The mathematical
description is semilar to the
universal coordinates, but is
restricted by translation and
rotation in/about Z-direction.
To move the variable robot
types in cartesian space with
respect to the robots base a
user defined solution for the
inverse kinematics is
required, which requires the
feature APIKIN or NUMSOL
for DH kinematics.
1/3
 Kinematic data in [m] for the robot
Example: ABB Robot IRB6400 M98 type RRR:RRR with back link.

Side view:
Number of DOF: 6
Joint Type: Rot(1,Z) * Rot(2,Y) *Rot(3,Y) *Rot(4,Z) *Rot(5,Y) *Rot(6,Z)
Joint Offset[deg]: [0.0, 0.0, -90.0, 0.0, 0.0, 0.0]
Joint Data [deg]: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Active joint coorsys are yellow colored, passive joint coorsys, such as the axis
for the back links are green colored.

Length 1 from joint 1 to joint 2: l1 = [188.0, 0.0, 900.0]

l1x = 188.0, l1y = 0.0, l1z = 900.0
Note: X is to the right, Z is up
Length 2 from joint 2 to joint 3: l2 = [0.0, 0.0, 950.0]
l2x = 0.0, l2y = 0.0, l2z = 950.0
Note: X is to the right, Z is up
Note: Back link #1 is attached to this joint.
Length 3 from joint 3 to joint 4: l2 = [-225, 0.0, 1150.0]
l3x = -225.0, l3y = 0.0, l3z = 1150.0
Note: X is down, Z to the right
Note: Back link #2 is attached to this joint.
Length 4 (joint 4-5) and Length 5 (joint 5-6) are zero for this type.
Length 6 from joint 6 to the robots tip (mechanical interface)
l6 = [0.0, 0.0, 200.0], l6z = 200.0
Note: X is down, Z to the right

Back Link parameter

(see green and orange colored lines)
Back link #1 attached to joint 2: Length [400.0]

www.easy-rob.com 2/3
 Back link #2 attached to joint 3: Length [950.0]
rotates about Y direction about the point
Jntd3 = [0.0, 0.0, -400.0]
Note: X is down, Z is to the right

Rear view: l1z = 900.0 , l2z = 950.0, l3x = -225.0

Top view: l1x = 188.0 , l3z = 1150.0, l6z = 200.0

Last revised on FEB 2001 webmaster@easy-rob.com

www.easy-rob.com 3/3