You know where robot's hand is and the current angle of it in comparing with something (x,y,z,alpha). And you know where robot should go (x1,y1,z1,alpha1).
What you need to do is just to assume that robot is rotated in the right direction and the hand is in (x1,y1,z1,alpha1). Then you can calculate position of its other end. And then is easy to determine if remaining two segments can or cannot make the requested position. In the most of cases you'll have only one solution.
I suggest you to do all calculations in the plane where all segments are. You need only the angles between the segments so you won't need to turn back to 3d.
Statistics: Posted by RB — Sun Feb 06, 2005 2:25 pm
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But, I think I still can be of help, regardless that I'm in lack of time. I think you just need only one function which transform coords.
Personaly, I'd like to take this conversation here, but we can talk via e-mail or icq as well.
Statistics: Posted by RB — Fri Jan 28, 2005 9:29 am
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Sorry that I write against subject but I have a very important (for me
) question to GeFreeman.In other forum for 2 years ago you have written that in your study you wrote a work with subject: ".... MOVEMASTER RM-501..." (sorry I can't find now exactly subject).
You see. I'm studing now at university in germany and I have to programe exactly this mashine. The problem is to solve the mathematical model of robot's move. I mean the tranformation from kartezian coordinate system to robots parameters.
Maybe You could help me in some way?
I will be very appriciated.
Thanks for any answer.
Damian
P.S. If you have an e-mail, please wrote to me at: damian_wahlig[at]yahoo[dot]de
Edit by Arathorn: obfuscated your e-mail to trick spambots, replace [...] accordingly.
Statistics: Posted by Guest — Fri Jan 28, 2005 5:35 am
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