Chapter 4 Planar Kinematics - MIT OpenCourseWare
Example 4.2 Consider the three dof planar arm shown in Figure 4.1.1 again. To solve its inverse kinematics problem, the kinematic structure is redrawn in Figure 4.2.1. The problem is to find three joint angles θ1,θ2,θ3 that lead the end effecter to a desired position and orientation, xe, ye,φe. We take a two-step approach.
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