Hi.

I'm working on the inverse kinematics and such on a robot for a school project.

The robot has three arms of almost equal lengths.

I'm using Excel for my calculations.

I have worked out the inverse kinematics, Jacobi for "joint velocities" (excuse my English), and required cylinder lengths.

Now I have to work out the following:

My input will be any desired "wrist velocity", any position data, any static force on the wrist

Cylinder velocity and required oil flow and pressure to achieve that speed

Motor velocity (to run the pump and achieve necessary oil flow)

Static force in all joints and cylinder actuators

I have my lecture notes but I'm having a hard time getting this right.

Any help is greatly appreciated!!