Inverse kinematics of 2 and 3-links manipulator

With direct kinematics for an ordinary manipulator, everything is pretty simple. And what about the inverse? At a minimum, it’s worth to repeat that it is ambiguous. Let’s start with the two-links manipulator.

2-links manipulator
2-links manipulator
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Direct kinematics of 2-3-6-n-links manipulator

In the last article I have already described which question answers direct kinematics, and now we will look at examples of how to do this.

How to find the end position for 2-links manipulator? Geometry will tell! Obviously:

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