Society of Robots - Robot Forum
Software => Software => Topic started by: Szmyke on May 11, 2014, 11:49:17 AM
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Hi,
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 !
Szmyke
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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.