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You're not going to get a parent-child relationship with this because it's not a kinematic tree. You've got a four-bar linkage, which is closed chain linkage. The angle that Link 2 makes with Link 1 depends on the angle at AxisX1 AND the distance from AxisX1 to AxisX3 AND the length of bar1 AND the length of link1 AND the distance from Axis4 to AxisX7.


Industrial servos with integrated driver and encoder have a limited power compared to non-integrated counterparts. Other then that, their spec sheet specifies their accuracy and if they are good/acceptable quality they will conform the spec sheet. You can extrapolate the positioning accuracy of your robot, based on your mechanism and the positioning (in)...


By imposing that the position of the end-effector $\mathbf{x} \in \mathbb{R}^3$ has to remain fixed, you're actually limiting your IK that, as a result, might struggle to achieve the task of aligning the vector $\mathbf{z} \in \mathbb{R}^3$ to point toward the target $\mathbf{p} \in \mathbb{R}^3$ when, for instance, one of the joints $\mathbf{q} \in \mathbb{...


The height h is a height relative to some arbitrary baseline. You can set it anywhere you want, but I think typically the easiest way to choose your baseline height is to set zero as the lowest reachable point for your robot. Then all heights are positive and you can have zero kinetic energy when speed is zero and zero potential energy when your arm is at ...

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