PosCons ≔ cos θ 1 Tx + sin θ 2 + sin θ 1 Ty − sin θ 1 Tx − 1 − cos θ 2 + cos θ 1 Ty : sol ≔ solve posCons 1, posCons 2, θ 1, θ 2, explicit Next, we solve for the position constraints of a 2-DOF robot arm to give the joint angles. This is a tough problem, especially for more complex systems. Deriving the position constraints means you need to rearrange these equations to give the joint angles. Modeling the kinematics of a multibody system often results in complicated trigonometric relationships. Rearrange complicated trigonometric relationships
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