Inverse-Manipulator-Kinematics-2

44 convert to cylindrical coordinates where 0 144 is

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Unformatted text preview: to cylindrical coordinates: Ø; Ø where 0, Ø Ø • θ Ø) Ø θ , θ 1.44 . Is the solution in the second or third quadrant? – it usually generates two solutions: θ . . Solve for 82.94 • 427.26 = Similar to 1 : also two solutions: θ . . . . 435.2 79.02 Solve for ′ ′ • In general, if we have two equations as the above, we have only one solution: θ θ θ θ θ , • So how many solutions we could have: 2 × 1 × 2 = 4 • Are those solutions physically possible? OSU Hexapod Front View 3 • Two solutions for 3 - Knee up - natural - Knee down (green) – not physically possible • Two solutions for 1 - Outside the body - natural - Inside the body – not physically possible 3 1 1...
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This document was uploaded on 01/20/2014.

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