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Kinematics

Kinematics. Forward (direct) Kinematics Given: The values of the joint variables. Required: The position and the orientation of the end effector . Inverse Kinematics Given : The position and the orientation of the end effector . Required : The values of the joint variables.

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Kinematics

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  1. Kinematics Forward (direct) Kinematics Given: The values of the joint variables. Required: The position and the orientation of the end effector. Inverse Kinematics Given : The position and the orientation of the end effector. Required : The values of the joint variables.

  2. 2-DOF Manipulator Now, given the joint angles Ө1, Ө2 we can determine the end effecter coordinates x and y.

  3. Forward kinematics The coordinates (x, y) of the tool are expressed in this coordinate frame as:

  4. Inverse Kinematics In order to command the robot to move to a location we need the inverse; that is, we need the joint variables Ө1, Ө2 in terms of the x and y coordinates of A. This is the problem of inverse kinematics. In other words, given x and y in the forward kinematic Equations (1.1) and (1.2). Consider the diagram of Figure 1.26. Using the Law of Cosines we see that the angle Ө2 is given by

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