Solve Inverse and Direct Kinematics Problems - LCAS/RBT1001 GitHub Wiki
Problem 3
Find the direct and inverse kinematics of a planar RR robot, shown in the picture.
Problem 4
- Assign frames to the following robot (Fanuc CR-7iA) joints and a final "tool frame", in a way that the last three rotational joint axes (i.e. the wrist) are all incident.
- Find the direct and inverse kinematics of a 6DOF robot with spherical wrist.