3-DOF RPR MANIPULATOR

Coordinate Placement

    

DH Parameters

Denavit Hartenberg Parameters
a(i) = Distance measured from Z(i) axis to Z(i+1) axis and in the direction of X(i) axis
alpha(i) = Angle measured around the X(i) axis from the Z(i) axis to the Z(i+1) axis
d(i) = The distance from the X(i-1) axis to the X(i) axis and measured in the direction of the Z(i) axis
theta(i) = Angle measured around the Z(i) axis from the X(i-1) axis to the X(i) axis

Calculation Of Transformation Matrix

Calculation Of Forward Kinematics

Calculation Of Inverse Kinematics

     

Calculation Of Joint Variables

Authors

• Leyla Tülü

License

This project is licensed under the MIT License - see the LICENSE.md file for details.

The under construction...