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--- robotic_manipulators_lego [2016/06/27 22:54] – joaomatos
+++ robotic_manipulators_lego [2016/06/27 23:21] (current) – joaomatos
@@ Line 1: / Line 1: @@
 ===== Lego Robotic Manipulator =====
+**Closed Form Solution**
+ We can project the the manipulator in a 2D plane , wz , where w is the plane where the target is located.Using algebra a closed form solution for the inverse kinematics problem can be found for this particular Lego Manipulator.
+ Given the target coordinates in world coordinates , we can solve for the base angle A0 and the joint angles A1,A2,A3.  The angle from the base can be easily found using:
+{{ ::axis2.jpg?direct |}}
+Projecting the manipulator in the wz plane , the problem now is 2D , and the closed form solution can be found using algebra.
+{{ ::axis_lego.jpg?direct |}}
 {{youtube>Ue8vInMqgBE?large}}