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7/23/2019 Inverse k
1/4
THIS PAGE DETERMINES JOINT ROTATIONS FOR A GIVEN SET OF X-Y COORDINATES, AND
FORWARD KINEMATICS
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'as# "#i$"% ()*+ ()*+ ) %i&
s"!.d#r /*() *)/012 )3(32 -)+001
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7ris% /+)+ )*1*2 ) /)
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1) 3)
ENTER VA8UE IN YE88OW S9W
A/
CA8CU8ATED VA8UES A*
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SO8UTIONS s"!.d#r ()*+ ) #.'!7
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*),,,,0),,,,
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7/23/2019 Inverse k
2/4
ORIENTATION OF GRIPPER TO GROUND
INVERSE KINEMATICS
"and Y X
"#i$"% d#&%"
1) 3)
) 1)
*)2+ *)
d#$r##s
()0(13SOLUTION)50* +()52*1(
/)*020( 15)*111
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,, /,),,,, /+),,,, *,),,,,
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7/23/2019 Inverse k
3/4
THIS PAGE SHOWS HOW TO DERRIVE X-Y COORDINATES FROM A SET OF JOINT ROTATIONS
T"# r#a..: in%#r#s%in$ &a$# is %"# in;#rs#
7/23/2019 Inverse k
4/4
n%#d
INVERSE KINEMATICS
Y X
"#i$"% d#&%"
0)3201 /+)*/(+
/)1*01 5)*/(+
5)(++120
)/20+(( /
)/20+(( /
)(0511 *
*)25*+*2 -*
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