Author Topic: Inverse kinematics of 5DoF robot  (Read 73 times)

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Offline manan

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Inverse kinematics of 5DoF robot
« on: November 09, 2017, 07:13:26 AM »
 :help:
hello, I am working on IK of 5Dof robot using Jacobian based method.
I have jacobian of (6x5) and its inverse would be matrix of (5x6) and position vector of size (3x1) . To get the joint variable   
 xj = J(inverse) x (q)position vector
that would be matrix multiplication of (5x6) x (3X1)  but its not possible.
how would I solve this problem??

thank you.

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