Forward and Reverse Kinematics
Forward and Reverse Kinematics
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3 Degrees of Freedom Elbow Manipulator
3 Degrees of Freedom Elbow Manipulator
The below video shows an example of a 3 DOF elbow manipulator that I worked on in Dr. Shrestha class Spring 2021 for Robotics at SSU. This uses the Denavit-Hartenberg convention, to translate between cartesian coordinates to spherical in a 3D space, or vice-versa.
Forward Kinematic Calculations
Reverse/Inverse Kinematic Equations
To follow along, use the drawings, and then start with equation one through 9. Certains equations will get inserted into other ones and then like magic, you have all your equations ;)
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