Author Topic: 2R robot arm motion planning  (Read 2234 times)

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Offline SzmykeTopic starter

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2R robot arm motion planning
« on: May 11, 2014, 11:49:17 AM »

I have a SCARA type robotic arm, a planar manipulator with 2 revolute joints. The arm moves in the horizontal plane.

Now my task is to plan the motion from one point (in Cartesian coords.) to a final (destination) point also given in Cartesian. After the planning, Matlab implementation follows.

Anyone could help how to solve this ?

Tnx. in advance !


Offline jwatte

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Re: 2R robot arm motion planning
« Reply #1 on: May 11, 2014, 12:34:55 PM »
Draw up the diagram of what it looks like. You will find that you can use square-angle triangles and a simple square root to solve this problem. It's known as "two-bone IK" if you want to Google for it.
When the square root goes imaginary, is when the position is not reachable with the configuration of segment lengths you're using.


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