2-DOF Manipulator

1 / 3

# 2-DOF Manipulator - PowerPoint PPT Presentation

2-DOF Manipulator. Now, given the joint angles Ө1, Ө 2 we can determine the end effecter coordinates x and y. . Forward kinematics. The coordinates (x, y) of the tool are expressed in this coordinate frame as:. Inverse Kinematics.

I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.

## PowerPoint Slideshow about '2-DOF Manipulator' - salim

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.

- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

### 2-DOF Manipulator

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

### Forward kinematics

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

### 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