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Find inverse kinematics for Four ax is SCARA robot.
1 Answer
written 2.4 years ago by |
Solution:
Four-axis robot:
Following is the kink-coordinate diagram for a four-axis articulated robot:
To solve the inverse kinematics, we use the tool configuration vector as follows:
W(q)=[a1C1+a2C1−2a1 S1+a2 S1−2 d1−q3−d400−exp(q4/π)]
$ w_1^2+w_2^2=a_1^2+2 …