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Jacobian Inverse Kinematics Explaination
Posted on 20050310
I'm attempting to solve a problem involving a robotic arm I'm designing. I have not had the high levels of math I may need but I've had Trig in college so I have some math skills.
The problem is solving what angles to move the joints to get to a specific point given any number of joints. It can't just work for 2 or 3 but 4 or more. I've found some information on the Jacobian Inverse Kinematics techniques but I don't understand them. Can someone walk me through a problem and explain things kinda simple? I would like to set up something like this:
A length = 10
B length = 9
C length = 8
D length = 7
Just to get some different lengths.
To make the angles easy I'll just call them angle A, AB, BC, CD. We can say that it all starts out at 0 degrees. So our current end position is now (34, 0).
A B C D
_____________ ____________ __________ ________
And we want to move to something like this. Make up a point to move to like (12, 10). And hopefully we can move there but we'll assume the joints have no restrictions to the movements to make it easier maybe.
___C___
/ \
B / \ D
/ \

 A


Hopefully someone can help me out with this!
Thanks,
Walter