Kinematic Dataset For Six-Degree-of-Freed Robot.

Inverse kinematics is a fundamental stage in the design and construction of any robot morphology. It involves calculating the joint values of a robot based on a given initial configuration of its end effector. Anthropomorphic robots with six degrees of freedom present a mathematical complexity that poses a challenge for solving inverse kinematics. This process heavily relies on the skills of the engineer or designer involved, and enthusiasts with a limited mathematical foundation may find it particularly challenging.

Therefore, the application of artificial intelligence techniques can greatly enhance the efficiency of inverse kinematics calculations for six-degree-of-freedom anthropomorphic robots.

Title: Inverse Kinematics Dataset for Six-Degree-of-Freedom Anthropomorphic Robot ABB IRB2400

Description:
This dataset is derived from Denavit-Hartenberg-based forward kinematics calculations. A machine learning model can further simplify the process of designing anthropomorphic robots by automating these calculations. The dataset is designed to train and evaluate models that can efficiently solve the inverse kinematics problem, which involves determining the joint angles given a desired end effector position and orientation.

The dataset includes the following input features:

• x: The x-coordinate of the desired end effector position.
• y: The y-coordinate of the desired end effector position.
• z: The z-coordinate of the desired end effector position.
• yaw: The desired yaw angle for the end effector orientation.
• pitch: The desired pitch angle for the end effector orientation.
• roll: The desired roll angle for the end effector orientation.
• q1_in: The current joint angle for the first degree of freedom.
• q2_in: The current joint angle for the second degree of freedom.
• q3_in: The current joint angle for the third degree of freedom.
• q4_in: The current joint angle for the fourth degree of freedom.
• q5_in: The current joint angle for the fifth degree of freedom.
• q6_in: The current joint angle for the sixth degree of freedom.

The dataset also provides the following output labels:

• q1_out: The desired joint angle for the first degree of freedom.
• q2_out: The desired joint angle for the second degree of freedom.
• q3_out: The desired joint angle for the third degree of freedom.
• q4_out: The desired joint angle for the fourth degree of freedom.
• q5_out: The desired joint angle for the fifth degree of freedom.
• q6_out: The desired joint angle for the sixth degree of freedom.

These samples serve as training and testing examples to develop intelligent models capable of efficiently solving the inverse kinematics problem for six-degree-of-freedom anthropomorphic robots. The dataset can be used to explore and experiment with various machine learning algorithms and techniques to enhance the performance and accuracy of inverse kinematics calculations in robotics applications.