search

qaz1678249 / scalar_kinematics

1 stars 0 forks source link

Hello, did you go through all DH notation for the task or used different analytical mehod? #6

Closed Suke0811 closed 10 months ago

Suke0811 commented 1 year ago

Hello, did you go through all DH notation for the task or used different analytical mehod?

_Originally posted by @koppelos in https://github.com/qaz1678249/scalar_kinematics/issues/5#issuecomment-1693834284_

Suke0811 commented 1 year ago

@koppelos SCALER has parallel serials limbs, but we can solve forward kinematics using DH.

For inverse kinematics, we had a analytical solution if we assumed the parallel 5 bar linkages are symmetric. The 5 bar linkagesnare not symmetric anymore since we changed the hardware, and we now use a solver on the parallel part. The rest of serials linkages are solved analytically.

About SCALER's leg configuration