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.
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:
Continue reading “Direct kinematics of 2-3-6-n-links manipulator”I will not copy Wikipedia, tell in my own words. Forward (direct) kinematics is when we know the positions of the motors in the joints and we want to find the position of the gripper (if we take the example of a manipulator).
Continue reading “Forward (direct) and inverse kinematics”