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Find inverse kinematics for Four ax is SCARA robot.
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Solution:

Four-axis robot:

Following is the kink-coordinate diagram for a four-axis articulated robot:

enter image description here

To solve the inverse kinematics, we use the tool configuration vector as follows:

W(q)=[a1C1+a2C12a1 S1+a2 S12 d1q3d400exp(q4/π)]

$ w_1^2+w_2^2=a_1^2+2 …

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