Inverse Equation Possibilites
3) Discuss the meaning of the following possibilities when you are solving the inverse kinematics equation of a robot analytically.
(a) The solution for an angle is a complex/imaginary number.
(b) You don’t get an equation for one of the angles.
(c) The only equation you get for an angle at the end of your analytical solution to the
inverse is of the form cos(θi)=cos(θi)? a) The robot cannot reach this destination. The pt may be 9.6 m away but the robot can only reach 9 m.
b) If there is no equation, then any angle is possible. For example an endeffector that revolves around the zaxis can rotate 360 degrees.
c) ????
Any idea for Part C?
