| Fenrir 2005-04-20, 12:44 pm |
| Do you know links about Inverse kinetics in robotic?
I want to simulate a 3 axis robot (2 rotate in plane X,Z the last is in Z
[move up down])
Point
O center of axis1
A common point between robot axis 1 &2 =>OA lenght of arm1
B is common point betwenn robot axis 2&3 =>AB lenght of arm2
C is tool center, BC is a vector along Z
How to know witch rotation make the axes 1 &2 to position the tool center to
the wanted, X,Z coordinate ?
Assuming that the axis rotation is limited to -8Pi/9 and +8Pi/9
How to calcule and display robot resolvability domain
PS; sorry if technical term is not well employed or acurrate.
French one...
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