Author Topic: Help with calculations  (Read 314 times)

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Offline EXOP1Topic starter

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Help with calculations
« on: May 03, 2014, 10:32:20 AM »
Hi,

I'm working on a robotic arm with a shoulder, elbow, wrist and an end effector. My problem is to calculate the position and orientation of the wrist to reach a target and grab it. Can you help me, because I'm stuck  :(

Offline jwatte

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Re: Help with calculations
« Reply #1 on: May 03, 2014, 05:15:04 PM »
Google for "Inverse Kinematics."

The simple case is "Two-bone inverse kinematics" which is simple, and can let you decide the shoulder-elbow-wrist angle.

Also, if you don't yet understand linear algebra and 3D homogenous transform matrices, you'll probably need to learn that, first. Which can take a while -- I recommend starting with a 3D graphics primer or perhaps game physics simulation tutorial of some sort.

Offline EXOP1Topic starter

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Re: Help with calculations
« Reply #2 on: May 04, 2014, 02:08:37 AM »
Thanks!
I found this page: http://onecuriousrobot.blogspot.se/2012/05/applying-inverse-kinematics-to-robot.html?showComment=1399137576745#c7835883238755448216

Is that a good way to go? Maybe one can convert that from 2D to 3D.

 


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