On 3/13/2014 4:52 PM, Petr Ledvina wrote: > 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)
Sadly, it's not that easy. The stepper motors are mounted on the back board, not the arm, so as the arms move, the effective driven angle changes. The forward kinematics are the intersection of two complex arcs and not two circles. :( -- Charles Steinkuehler [email protected]
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