Kinematics and inverse kinematics

Community General Discussions
1

Hi, years ago I remember seeing the kinematics working out for AL4D on this website forum but now I can’t find it. Could you please tell me where to find both the kinematics and inverse kinematics worked example.
mrcw2

2

I believe at one point I had both parts of this as part of my Rover with Arm project. May have to look through that code. The Arm code for the IK can be found in several of the different forum threads, like: viewtopic.php?f=6&t=7923.

The FK would not be difficult to do, you simply need to take the Sin/COS of the different angles times the length of each component and sum them up…

Kurt

3

There are also these IK solutions…

lynxmotion.com/images/html/proj058.htm
lynxmotion.com/images/html/proj057.htm
lynxmotion.com/images/html/proj073.htm

4

Hi all,

I am not sure whether this topic is the best place to write this or no.

I am currently working with a 4-DOF T-Hexapod and my initial steps toward something bigger is to calculate the Inverse kinematics. I have done this so far. However, I still need to explicitely say the wrist angle relative to ground (WARG or orientation of z-angle), therefore my inverse kinematics parametes are [x,y,z, WARG] in order to obtain (theta1, theta2 theta3, theta4). Is possible to calculate the inverse kinematics of the 4-DOF leg without specifiying (WARG) or this angle should be compulsory given?

Sorry if the question is not clear at all.

Thanks!