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The Solution Method

The problem is to determine the X-Y position of the robotic wrist joint given the angle arm makes with the body, the angle that the forearm makes with the arm, and the length of the link segments. Let us consider solving first for the X-Y position of the robotic elbow joint.

A bit of trigonometry is all that is necessary to solve the problem analytically. From Figure 1.1, the equations that describe the X-Y position of the robotic elbow joint as functions of the shoulder angle alpha, are:

and

We have solved robotic elbow joint X-Y position analytically. Let us now solve the problem with a Fortran program.


J. C. Diaz