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Inverse Kinematics for 5 DOF Robot

Its is a robot config with 5 DOF. We are provided 2 offsets d1 and d2. d1 and d2 are both 0.04 meter.

It is confusing for me alittle bit. I am attending lectures online but I am having trouble figuring out the angle joint configs and their mappings.

Is there a simulation software I can use to visualize and understand its parameters.

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  • $\begingroup$ Have you done the forward kinematics equations? If so, you should be able to enter values for $\theta1$ through $\theta5$ to determine the position and orientation of the final coordinate system {T}. Please let us know what you have done with that so we can help you determine the next steps for computing the inverse kinematics. $\endgroup$ – SteveO Oct 13 '18 at 3:38
  • $\begingroup$ I have implemented the forward kinematics of the robot by deriving the transformation equations and then implementing this in code. I am able to correctly calculate the location and orientation coordinates of the end-effector tool-frame. I need to calculate the value of joint angles given the end-effector position coordinates. $\endgroup$ – Rishabh Agrawal Oct 13 '18 at 23:01
  • $\begingroup$ Those $d_1$ and $d_2$ offsets make the inverse kinematics difficult. If $d_2$ was 0 we could partition the inverse solution into a wrist rotation and an arm position, but I cannot see a way to do that with a nonzero $d_2$. So look at your final T matrix and find similar terms, then trigonometrically manipulate these to reduce the items to a single variable. For example, the upper left term (end effector X mapped to global X) should not have a $theta_4$ component. And the Y and Z components of this vector may be able to be squared and added to eliminate $theta_4$. It’s challenging. $\endgroup$ – SteveO Oct 14 '18 at 14:16
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There is a beautiful man by the name of Chris Annin (beautiful as in what he did in the world of 6 axis robots). have a look at this video of his explaining inverse kinematics: https://www.youtube.com/watch?v=_rMUddhdk7o

His code is fully downloadable.

To explain my answer, Mr. Annin built an open source 6 axis robot! he explained how he achieved his inverse kinematics in the video I linked to, and the excel file he uses, is available to download. Like I said, Mr Annin is a beauty.

Good luck dude.

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