I am programming a robot arm. abm.wso.net/calculations1.gif illustrates a problem I am having trouble with. The two equations shown produce the z and d coordinates as a function of the angles theta1, theta2, and the arm segment lengths L1, L2. I need to solve these two equations for theta1 and theta2. I used to know how to solve these simultaneous trigonometric equations. I remember that the skill was in manipulating the expressions around and then substituting using a collection of trigonometric relationships for multiple angles, sums of trigonometric functions etc. etc… Anyway, it’s been much too long and , although this pair of equations looks pretty simple, I haven’t been able to solve for Z and d. If anyone is interested in taking a shot at it that would be very much appreciated.
Best regards,
Joe
