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    This document provides inverse kinematic equations for a 2D robotic arm to calculate the elbow angles θ and θ based on the end effector position (X,Y) and the arm link lengths L1 and L2. Equation 1 is used to calculate θ and equation 2 calculates θ, where X and Y are the end effector coordinates and L1 and L2 are the arm link lengths of 180cm and 200cm respectively.

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    This document provides inverse kinematic equations for a 2D robotic arm to calculate the elbow angles θ and θ based on the end effector position (X,Y) and the arm link lengths L1 and L2. Equation 1 is used to calculate θ and equation 2 calculates θ, where X and Y are the end effector coordinates and L1 and L2 are the arm link lengths of 180cm and 200cm respectively.

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    © All Rights Reserved
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    19 views1 page

    Inverse Kinematic in 2D

    Uploaded by

    a
    This document provides inverse kinematic equations for a 2D robotic arm to calculate the elbow angles θ and θ based on the end effector position (X,Y) and the arm link lengths L1 and L2. Equation 1 is used to calculate θ and equation 2 calculates θ, where X and Y are the end effector coordinates and L1 and L2 are the arm link lengths of 180cm and 200cm respectively.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 1

    Inverse kinematic equations for a 2D arm :

    To find the respective elbow angles 𝜃 and 𝜃 on figure (1) at different positions the following
    inverse kinematic equations were used:

    𝜃 = cos √
    + tan (equation 1)

    𝜃 = cos − 180 (equation 2)

    Where X and Y represent the coordinated of the track, and 𝐿 and 𝐿 are the lengths of the arms
    equal to 180 and 200cm respectively.

    (X,Y)

    L1

    𝜃
    B
    L0
    𝜃
    A
    X

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