# Help in Computing Inverse Kinematics of a 5 DOF Robot Config

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.

• 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. – SteveO Oct 13 '18 at 3:38
• 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. – Rishabh Agrawal Oct 13 '18 at 23:01
• 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. – SteveO Oct 14 '18 at 14:16