Inverse Kinematics Problem: Input: the desired position and orientation of the tool Output: the set of joints parameters.

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Inverse Kinematics Problem: Input: the desired position and orientation of the tool Output: the set of joints parameters

Kinematics equations of this arm: The structure of the transformation: Algebraic Solution

We are interested in x, y, and (of the end-effector) By comparison of the two matrices above we obtain: And by further manipulations: and …… Algebraic Solution (cont.)

Example 1 100L1L1 2L2L

Kinematic Equations of The Arm

Target By comparison we get:

Kinematic Equations - Solution

Example 2 100L1L L2L2 00 4L3L3 00

Example 2 (cont.)