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. planarRR

Problem 4

  1. 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.
  2. Find the direct and inverse kinematics of a 6DOF robot with spherical wrist.

CR-7iA_frames