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6. Show the inverse kinematics calculations and determine the joint angles for the following robot if L1 = 1 m; L2 = 1.5 m, L3 = 3 m and L4 = 2.5 m. assume $\theta$ = 150° and X = 4 m and Y = 3 m. 

          6. Show the inverse kinematics calculations and determine the joint angles
for the following robot if L1 = 1 m; L2 = 1.5 m, L3 = 3 m and L4 = 2.5 m.
assume $\theta$ = 150° and X = 4 m and Y = 3 m.
6. Show the inverse kinematics calculations and determine the joint angles for the following robot if L1 = 1 m; L2 = 1.5 m, L3 = 3 m and L4 = 2.5 m. assume θ = 150° and X = 4 m and Y = 3 m.

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University Physics with Modern Physics
University Physics with Modern Physics
Hugh D. Young 14th Edition
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Show the inverse kinematics calculations and determine the joint angles for the following robot if L1 = 1 m; L2 = 1.5 m, L3 = 3 m and L4 = 2.5 m. Assume θ = 150° and X = 4 m and Y = 3 m. End Effector x,y Forward Kinematics (FK) Joint Angles End Effector Pose q1 92.93 x,y,0 Inverse Kinematics (IK) X
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Transcript

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00:01 Let's see, theta equal to a naught plus a1t plus a2t square plus a3t cube.
00:11 Let's take this is equation 1 and theta equal to d theta by dt that is equal to a1 plus 2 a2t plus 3 a3t square.
00:25 Let's take this is equation 3 and d square theta by dt square equal to d theta by dt equal to 2 a2 plus 6 a3t.
00:41 Let's take this is equation 3.
00:43 So, the condition t equal to 0, theta equal to 0 and t equal to 3 and theta equal to 0 and initial angle at t equal to 0, theta equal to 50 degree and final angle at t equal to 3 and theta equal to 80 degree.
01:06 Using condition 1 and equation 2, we have 0 equal to a1 plus 2 a2 0 plus 3 a3 0 square.
01:18 So, a1 equal to 0.
01:20 Now, using condition 2 and equation 2, we have 0 equal to 0 plus 2 a2 into 3 plus 3 a3 into 3 square.
01:33 Therefore, 6 a2 plus 27 a3 equal to 0.
01:39 Let's take this is equation 4...
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