I have a simple RRR manipulator where one motor controls the base rotation, and the other two allow movement in a plane extending forward from the base and upwards/downwards. Are there any standard ways to ensure the angle of the end effector remains constant?
My current solution uses explicit trigonometric expressions based on distance between joints, but if there is a better way to solve it to include restraints I'd be open to suggestions.
The manipulator is essentially like the image below, but with an additional base rotation. This allowed for the inverse kinematics to be simplified. As a reference here is the site http://www.hessmer.org/uploads/RobotArm/Inverse%2520Kinematics%2520for%2520Robot%2520Arm.pdf