# Inverse Kinematics of a 1R-1P-1R

• Hello world!

I have this robotic arm and I want to find the inverse kinematics.

I found the final matrix from base to end-effector with no D-H parameters.

This is what I have done so far.

Can anyone help me how to continue?

• There are that much resources on the web for inverse kinematics.

You are a postgraduate student, so you should find some hints if you use your favourite search engine.

• Problem seems to be solved, thank you for not replying

Sorry about that, but I only found q1 and q2. For q3 it was beyond my knowledge.

There are that much resources on the web for inverse kinematics.

You are a postgraduate student, so you should find some hints if you use your favourite search engine.

you can a solution on youtube searching for angela sodeman

Unfortunately I had searched all over the internet but I did not find anything understandable. YouTube didn't help me either.

I know the tutorial from angela sodeman and Peter Corke.

ps. Internet and YouTube helped me only for D-H parameters

• So you want to do the inverse kinematics:

What I could not find is actually the end effector frame relative to the base frame.

Can you provide the values as given in your drawings and the end effector frame?

• Do you mean the values from lengths?

• This is the initial drawing:

The lengths are considered stable, I don't have values for that.

Only these are given by work.

• 0<=q2<=q2,max

Only that there is as information

• Hello again!

I have another one homework.

So I have this pose of end-effector

Where:

I want to find the angles q1 q2 q3.

Any help how to start?

PS. Inverse kinematics is the worst object in robotics for me.

• Yes indeed is about Z0 that is D-H parameters

• Where is the drawing.

In order to calculate q1 make a drawing in the xy-plane could be very helpful

for q2 and q3 a drawing in xz-plane is very helpful

Pex and Pey look strange to me.

Did you make these calculations or did you got them from someone?

• Here is the drawing

I did the calculations myself.

Do you also want calculations from D-H parameters?

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