Hi I was looking at the PEP spreadsheet from zenta and trying to work out the equations. One thing which didn’t make sense to em was the femur angle calculation. Why is the femur angle IkA1 + Ika2 ? They seem to be on the opposite sides isn’t it or am I missing something. Can s…

Maybe we can ask @zenta himself.

Thanks @zenta can you help please?

Hi. It’s been a while since I worked on that part… You see, the IK section I used on the PEP sheet comes from the spreadsheet from Mike Keesling . I only rotated the graph 90 deg. I think that would explain everything. The A1 is the angle between the line from femur servocenter a…

HI @zenta , Wishing you a very happy new year !! First of all thanks a lot for replying to my question! I have been a big fan of your work. Its just awesome to be able to talk tot you . I am trying to understand the IK being done for the hexapod. This attached picture is what i …

Hi @lequocchi97 Wishing you a very happy new year !! Thank you so much for your reply. As said above I am trying to understand and learn the IK implementation. Your diagram is of utmost importance. I can’t thank you enough on you sending this here. I had come to the same conclu…

@zenta @lequocchi97 Can you please help confirm my understanding ?

yes, this is ground bro. my opinion, don’t using Theta from fermur angle. just find alpha 1 and alpha 2 to calculation of fermur angle. Sr for my Eng :))

Hi Please accept apologies for replying late. I was just busy with some house stuff. Now back on doing this. Thanks @lequocchi97 for your response. After finding the alphas, when I am sending angle to servo should it be relative to where the servo centre is then ?

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Hexapod femur angle explanation

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lequocchi97 January 2, 2020, 8:30am 6

May be you need it . OMG it so long time, Zenta come back here, hello Legend

Lynxmotion SES V2 Hexapod Robot