Forward and Inverse Kinematics
Imagine that you have a robot that is similar to a wrist with its first two axes. Then, at the end of the second link, you have a translational third link that is orthogonal to the plane that the second link is on. That is, if the zero position for the first two links is in the XZ plane, the rotations of the first two links are around the Z and Y planes respectively, and the translation of the third link happens in the Ydirection.
Work out the forward and inverse position kinematics for this robot. Assume that you can
use known values L1 and L2 for the first two links. Keep in mind that L3 now is a variable
that you need to solve for, just like the first two angles. (Assume that in the zero position,
you are at the coordinate [0 L3, L1+L2)
Is anyone able to show me show to set this up in matrix form?
