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cgxeiji / CGx-InverseK

Inverse Kinematic Library for Arduino for a three link-arm system with a rotating base.
GNU General Public License v3.0
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Calculates the angles considering a specific approach angle #5

Closed girmak7 closed 6 months ago

girmak7 commented 2 years ago

hi i have a question about specific approach angle, what is the meaning of that?

cgxeiji commented 8 months ago

Imagine you want to pick a block with your gripper, but you can only approach it from above. Then you need to set a phi of 90 degrees from the horizontal plane so it always approach the block from above.

If you need to approach it from the side, then setting phi to 0 degrees will make the end effector position flat from the horizontal plane.

cgxeiji commented 6 months ago

I am closing this issue now, feel free to reopen it if you have more questions!