Inverse-Manipulator-Kinematics

K problem 1 the manipulator leg transformation matrix

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Unformatted text preview: or solving the I.K. problem (1) - the manipulator (leg) transformation matrix • Step (a): Isolate 0 0 0 1 = 1 1 0 0 0 0 1 0 0 0 0 1 0 = 1 1 ) 3.24 16.69 1.44 1 = 1 1 0 0 0 0 2.5 2.5 12.8 12.8 12.8 1 3.24 16.69 1.44 1 Steps for solving the I.K. problem (1) • Step (b): Solve for qi , i= 1, 2, 3 – How many equations in Step (a): 3 – How to solve the equations? – Some special techniques have to be used • Inverse Kinematics Procedure – For simple manipulators: i =0, ±90 ; di =0 – Algebratic approach which gives a closed-form solution; not an iterative numeric approach – Good example in...
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