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# Inverse Kinematics ?

I am planning to make a robotic arm and found this link showing some inverse kinematics problems . I am confused what should I substitute l1 ,l2, Xhand, Yhand, Øhand as . My robot has 3dof and has a arm size of 15cm.

## Discussions

They're there to illustrate the problems of inverse kinematics.

l1 is the length of the lower arm, l2, the upper arm, and Xhand and Yand the co-ordinates the arm is to reach.

what about Ø hand?

Phi - angle. Its all in the notes ! The robot has one link of length l and one joint with

angle Ø. The position of the robot's hand is Xhand. The inverse kinematics problem (at the position level) for this robot is as follows: Given Xhand what is the jointangle Ø?"Ø" normally means "diameter".