Solve inverse kinematics for 6DOF arm - LCAS/RBT1001 GitHub Wiki

Problem 2

:arrow_right: :writing_hand: 1. Assign frames to the following 6 DOF robot joints and a final "tool frame", in a way that the last three rotational joint axes (i.e. the wrist) are all incident.

:arrow_right: :writing_hand: 2. Find the direct and inverse kinematics.

mecharm_fix

:exclamation: Note: to solve symbolic matrix multiplications and simplifying we can use https://live.sympy.org/

You can declare symbols with:

q1,q2 = symbols('q1 q2')

You can declare matrices with:

 R1 = Matrix([
          [cos(q1), -sin(q1), 0, 0],
          [sin(q1), cos(q1), 0, 0],
          [0, 0, 1, 0],
          [0, 0, 0, 1]
      ])

You can simplify symbolic expressions with:

 T01 = simplify(T0*R1)