Inverse Kinematics of a 1R1P1R

TeChNoRoBoT 
November 29, 2020 at 7:46 PM 
Thread is Unresolved


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

Problem seems to be solved, thank you for not replying

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 DH 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?

yes and the end effector frame relative to your base frame

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

Sorry about that, but I only found q1 and q2. For q3 it was beyond my knowledge.
your q3 = arccos(c3)
(low of cosine)

Thanks!!

Hello again!
I have another one homework.
So I have this pose of endeffector
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.

how does the robot looks like?
It seems, that q1 is rotating about the Z0axis?

Yes indeed is about Z0 that is DH parameters

Where is the drawing.
In order to calculate q1 make a drawing in the xyplane could be very helpful
for q2 and q3 a drawing in xzplane 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 DH parameters?

yes please

here you are

What dhparameters are these?
introduced by DenavitHartenberg or Craig
