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[AMR] Week2: Done

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Janis Hutz
2026-03-03 19:33:41 +01:00
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electives/others/amr/parts/01_kinematics/02_inverse.tex Normal file
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\subsection{Inverse Kinematics (IK)}
\begin{wrapfigure}[10]{r}{0.4\columnwidth}
\includegraphics[width=0.4\columnwidth]{assets/inverse-kinematics.png}
\end{wrapfigure}
Option: Solve Forward Kinematics for angles.\\
Better: Law of cosine with polar coordinates. Compute angle using cosine rule,\\
$\theta_1 = \phi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
(Positive for {\color{ForestGreen} Elbow Down}, Negative for {\color{red} Elbow Up})
Extension to 6R:
1. Waist: spherical coords (2 sol.)\\
2. 2 sols from 2R for shoulder + elbow\\
3. Solve for wrist joints (no influence on pos)