Hi there ! Hi Admin ! Hi guest !
I have a question for robot arm desaigner (excel sheet: Robot Arm Designer v1) especially about forward kinematics.
On Robot Arm Designer v1, there have 2 joints with equations :
Joint 0 (with x and y at base equaling 0):
x0 = 0
y0 = L0
Joint 1 (with x and y at J1 equaling 0):
cos(psi) = x1/L1 => x1 = L1*cos(psi)
sin(psi) = y1/L1 => y1 = L1*sin(psi)
Joint 2 (with x and y at J2 equaling 0):
sin(theta) = x2/L2 => x2 = L2*cos(theta)+x1
cos(theta) = y2/L2 => y2 = L2*sin(theta)+y1
What if I made equation for 3 joints?
And then I made equation for 3 joints like this :
x3 = L3*cos(theta)+x1+x2
y3 = L3*sin(theta)+y1+y2
Was it right ?
Please help me.
oh one more.On excel sheet, value of theta (x2 and y2) is theta1 + theta2. Why ?