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Inverse Kinematics Analysis

Excerpt

Servo angles, S1, S2, S3 as a function of Leg Tip cylindrical coordinates, R, Z, θ

5.1Introduction: The story so far
5.2The meaning of ‘Inverse Kinematics’
5.3Description of the three degree-of-freedom (3dof) leg system
5.4Microcomputer architecture to control a multi-legged robot
5.5The Central Pattern Generator, the CPG
5.6Mechanical system geometry of the 3dof leg
5.7Kinematics analysis of the 3dof leg system
5.8Minimising the polar second moment of inertia of the leg system
5.9Coupled displacement of the leg tip
5.10Decoupling the leg system
5.11Deriving an inverse kinematics equation for S1 = f1(R, θ)
5.12Deriving an inverse kinematics equation for S2 = f2(R, θ, Z) in three stages
5.13Deriving an inverse kinematics equation for S3 = f3(R, θ, Z) in two stages
5.14Graphs of S1, S2 and S3 values at boundaries of the cylindrical coordinate frame

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