Consider the three-link, RRR planar arm shown in Figure 3.32 (Page 115). a. Give
ID: 1856377 • Letter: C
Question
Consider the three-link, RRR planar arm shown in Figure 3.32 (Page 115). a. Given a desired position of the end-effector (x,y), how many solutions are there to the inverse kinematics of this arm? b. If the orientation of the end-effector is also specified (alpha is the rotation of the last link with respect to the horizontal), how many solutions are there? Use the geometric approach to create the closed-form solutions for Theta1, Theta2, and Theta3. First sketch the robot and all parameters including positive direction of rotations angles, then show all your work for the solutions.
Explanation / Answer
a)infinite solutions b)two solutions