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AN2350 Datasheet(PDF) 10 Page - STMicroelectronics |
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AN2350 Datasheet(HTML) 10 Page - STMicroelectronics |
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10 / 41 page  An overview on robotics AN2350 10/41 Figure 6. The geometric approach for the inverse kinematics There is a mechanical connection between the link 3 and the link 2, which imposes . This implies that the joint 3 can not be actuated independently from the joint 2. Since From the last equation and from geometric considerations follows: Consider now a rotation of an angle ϕ: y l1 α 2 = -2α’1 α’ 1 x1 l2 l3 x2 x3 x α 3 = -α2 / 2 = α’1 2 2 3 α α − = l l l = = 2 1 ⎪ ⎩ ⎪ ⎨ ⎧ + = + = = + = = 3 ' 1 3 2 3 ' 1 2 1 2 ' 1 1 cos 2 cos 2 cos cos l l l x x l l x x l x α α α α ' 1 2 3 ' 1 2 3 3 ' 1 2 2 2 arccos α α α α α α = − = − = − = l l x |
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