I'm trying to figure out to a problem with a planar manipulator. The manipulator has a base effector and L1 and L2 with 3 joints.
- Question: INVERSE KINEMATICS
posit_ion(x, y, z) of the tool I calculate the values of the joint variables ($\theta_1$, $\theta_2$, $\theta_3$ and $\gamma$) as follow:
position(x, y, z) I calculate:
- $\gamma= atan2(z, x)$
- $x'= \cos(\gamma)*x + \sin(\gamma)*z$
- $y'= y$
I used $x'$ and $y'$ to calculate (through) the angles of joints like this:
is it correct?
- Question FORWARD KINEMATICS:
Given the joints variables ($\theta_1$, $\theta_2$, $\theta_3$ and $\gamma$) I need to calculate the
position(x, y, z) of the tool.
In this case I don't know how to continue.
Anyone can help me?