i have done davenit and direct geometric model and i obtain this equations system
J'ai essayé par des substitutions du type cos=1-u²/1+u² mais le système devient rapidement inextricable.... system
eq1=335*cos(t2)* sin(t3) -77*sin(t2)-260*sin(t2)*sin(t4)+260*cos(t2)*cos(t3)*cos(t4)+85=x; eq2=335*cos(t3)-260* sin(t3)*cos(t4)=y; eq3=0-335*sin(t2)* sin(t3) -77*cos(t2) -260*cos(t2)*sin(t4)-260*sin(t2)*cos(t3)*cos(t4) =z; which is equal to
We have placed cookies on your device to help make this website better. You can adjust your cookie settings, otherwise we'll assume you're okay to continue.
inverse geometrice model robot
in Modern and Theoretical Physics
Posted
Hi,
i'm studying a robot arm
i have done davenit and direct geometric model and i obtain this equations system
J'ai essayé par des substitutions du type cos=1-u²/1+u² mais le système devient rapidement inextricable....
system
eq1=335*cos(t2)* sin(t3) -77*sin(t2)-260*sin(t2)*sin(t4)+260*cos(t2)*cos(t3)*cos(t4)+85=x;
eq2=335*cos(t3)-260* sin(t3)*cos(t4)=y;
eq3=0-335*sin(t2)* sin(t3) -77*cos(t2) -260*cos(t2)*sin(t4)-260*sin(t2)*cos(t3)*cos(t4) =z;
which is equal to
(1)S+(2)*C2 =>eq1=260*sin(2*t2)*sin(t4)== 8-x*sin(t2)-z*cos(t2);
eq2=335*cos(t3)-260*sin(t3)*cos(t4)-y==0;
eq3=0-335*sin(t2)* sin(t3) -77*cos(t2) -260*cos(t2)*sin(t4)-260*sin(t2)*cos(t3)*cos(t4) =z;
avec T2 [ -PI/4. PI/2] T3[ -PI/4 PI/4] T4 [0 PI/2 ]
Now i want to solve it and express t2 = f(x,y,z) t3=g(x,y,z) t4 = h(x,y,z)
it ty many ways (paul method susbstitution cos=1-u²/1+u²) but i don't manage to find the results
If someone can help me even with a computing solution fro mapple and so on
thanks