Sunday, April 15, 2012
Inverse Kinematics dead end
So as I discussed with Hoi, Mathematica was unable to reduce my equations to solve for phi1 and phi2. I also tried doing it by hand but got equations such as cos(phi1) as a function of sin^3(phi1)+bsin^2(phi1)+csin(phi1)/.... needless to say it got really ugly and I was still nowhere near separating phi1 and phi2. I will try again tomorrow using a reduced form and will also try my original method one more time. I'm pretty exhausted now so I'll post everything tomorrow.
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Commenting it so we have this on record;
ReplyDeleteInverse kinematics is generally hard to compute for robots greater than 3 DOFs. Having talked with Professor Popovic we get the sense that we will find multiple solutions for theta values at a specified position/orientation. She also talked about how a lot of times with these multiple theta values, the best and only thing to do is plug it back into the forward kinematics and check which sets of thetas work.
Chris, if you can't nail down the theta1 and theta2 values, don't beat yourself over it. Leave the theta1 and theta2 values as simple as you can and we'll write comment about it in the report. Comment about how many equations we have for these two unknowns and that would be enough.