Hi,
I have just purchased the AL5D Arm and I want to develop an autonomous system that play checkers using MRDS.
I am stuck now at the inverse kinematics and I want to know if anyone has a working inverse kinematics algorithm for the AL5D.
I know that there are three excel sheets and I have tested them, and I have found that the only one that producing the same output as RIOS software is the inver03.xls, whoever it works only in X & Y plane.
Dose anyone has a modified version of the inver03.xls file or any other algorithm that working in 3 dimensions (X ,Y ,Z ) ?
Thanks, and waiting for your reply A.S.A.P.
Regards,
Ahmed
I’ve not done much with IK in all three dimensions but i can give you the equations I’ve tinkered with in some of my programs.
[code]M = sqrt(X2²+Y2²) //distance of a line between the base and wrist
A1 = arctan(Y2/X2)
A2 = Arccos((A²-B²+M²)/((A*2)*M))
Shldr = A1 + A2
Elbow = Arccos((A²+B²-M²)/((A*2)*B))
Base = Arctan2(Xv,Z)
Xv = sqrt(X²+Z²)
Xc = C*Cos(D)
Yc = C*Sin(D)
X2 = Xv - Xc
Y2 = Y - Yc
A = Length between Shouldr and elbow
B = Length between Elbow and wrist
C = Length of hand
D = Angle of the hand in relation to the ground
Real Target (x,y) //This target is at the end of the gripper.
Target = (x2,y2) //This target is for the wrist! not the end of the gripper.
[/code]
Keep in mind that I mainly work with IK using only the X and Y plane so i can’t say for sure if the above equations are the most efficient or the best way to do it. Hope you have some luck with it!
