- #1
jonasjia
- 3
- 0
hello friends,
when i build the mathmatical model of robot,i face a new question that i ever seen before.
i have a reverse kinematic lever as the leg and i want to use the tip position to get the relationship of fold angle and rotate angle reversely
here is my equation:
x*e^iθ - y*e^iθ * e^-iα + z*e^iθ = d
x is the known length of first section of kinematic lever
y is the known length of second section of kinematic lever
z is the known length of third section of kinematic lever
d is the known length from {0,0} (which is the pin point of kinematic lever rotation point) to kinematic lever tip
i want to find the exact relation of θ and α
could you help me to get the result of the equation? thanks.
when i build the mathmatical model of robot,i face a new question that i ever seen before.
i have a reverse kinematic lever as the leg and i want to use the tip position to get the relationship of fold angle and rotate angle reversely
here is my equation:
x*e^iθ - y*e^iθ * e^-iα + z*e^iθ = d
x is the known length of first section of kinematic lever
y is the known length of second section of kinematic lever
z is the known length of third section of kinematic lever
d is the known length from {0,0} (which is the pin point of kinematic lever rotation point) to kinematic lever tip
i want to find the exact relation of θ and α
could you help me to get the result of the equation? thanks.