The forward kinematics should be quite easy to solve - using
trigonometry over stepper motor angles, you get positions of both
middle joints. Then simply solve intersection of two circles with
centers in these points and radius l. There will be two intersections.
The only problem is choosing correct one, both are physically
possible. So probably use the one closer to last known position (the
mechanism is singular if they coincide)
Petr
--
Petr Ledvina
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