March 16, 2022

In many cases it is more important to be able to derive the joint angles given the end-of-arm position in world space. The typical situation is where the robot’s controller must compute the joint angles required to move its end-of-arm to a point in space defined by the point’s coordinates. For the two-link manipulator we

The arm we have been modeling is very simple; a two-jointed robot arm has little practical value except for very simple tasks. Let us add to the manipulator a modest capability for orienting as well as positioning a part or tool. Accordingly, we will incorporate a third degree of freedom into the previous configuration to