Inverse Kinematics
Inverse Kinematics of the following leg configurations are covered:
Five bar mechanism with Co-axial design
Pantograph mechanism
Five bar mechanism, generic design.
Open chain Inverse kinematics (2 degrees of Freedom)
Mathematical formulation of the Inverse kinematics is described as followed:
Converting q_hip and q_knee equation into joint angle
Figure 1 : Inverse kinematics of the quadruped robot Stoch
Panto graph style leg
Figure 2a : Inverse kinematics of the quadruped robot
It can be seen from the figure bellow, the panto -graph design can be rearranged to create an open chin design.
Figure 2b: Inverse Kinematics solution of the panto-graph style leg.
Inverse kinematics Parallel Manipulator
Figure 3 : Inverse kinematics of a planer 5 bar mechanism in INU robot. (Picture of the robot is taken from Kod-Lab website)
A more generic leg design of Figure: 1 is provided and is shown in Figure : 3
We break the mechanism down into two planer open chain linkage systems. Once broken the formulation is same as described above.
Inverse kinematics of Stoch-2 robot. The leg configuration is similar to INU.
