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Old Dec 13th 2017, 11:37 PM   #1
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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 donít 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 end-effector that revolves around the z-axis can rotate 360 degrees.
c) ????


Any idea for Part C?
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Old Dec 14th 2017, 05:22 AM   #2
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Since that equation is satisfied for all theta, it is the same as case (b).
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Old Dec 14th 2017, 08:57 AM   #3
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I was thinking along those lines too. thank you
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