Now given the joint angles Ө1 Ө 2 we can determine the end effecter coordinates x and y Forward kinematics The coordinates x y of the tool are expressed in this coordinate ID: 337677
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Slide1
2-DOF Manipulator
Now, given the joint angles Ө1, Ө2 we can determine the end effecter coordinates x and y. Slide2
Forward kinematics
The coordinates (x, y) of the tool are expressed in this coordinate frame as:Slide3
Inverse Kinematics
In order to command the robot to move to a location we need the inverse; that is, we need the joint variables Ө1, Ө2 in terms of the x and y coordinates of A. This is the problem of inverse kinematics. In other words, given x and y in the forward kinematic Equations (1.1) and (1.2).Consider the diagram of Figure 1.26. Using the Law of Cosines we see
that
the angle
Ө
2
is given by