I would like to know if any LabVIEW enthusiast has any idea for inverse Kinematics problem. I would like to explain what Inverse Kinematics means, Basically if you have a robotic arm having four joints and you want the end effector of the arm to move along a straight line, circle, or any trajectory then you have the equation of the curve that the arm has to describe and you are supposed to calculate the value of theta which the joints of the arm has to travel in order to describe the curve. The process of calculating the theta value for each joint is known as Inverse Kinematics or IK. I have learned a method, which I am sending as an attachment doc file. This method is not very good since it has 4 v
ariables and two equations meaning that you have infinite solutions made a VI for calculating the theta values for all 4 joints. Unfortunately the values are not very good. I am sending another VI in which I have kept two joints stationary and I am moving two only, which gives me 2 variables and 2 equations. I would like if any one could please run the VI and check that the matrix VI is operating fine. I am in search of some robust algorithm for calculating the IK for 4-link arm. If any one could please think of some idea then it would be most welcome.
I am sending a doc file which has the details of the problem, a VI for 4 link IK and a VI for 2 link IK ( 2 joints frozen.
Please input the following before running the VI
For Inverse kinematics VI:
L1=10, L2=8, L3=6, L4=4, and dx=. 01, dy=-. 01 (negative), theta1=. 01, theta2=. 01, theta3=.01, theta4=.01
For IK22 VI
L1=18, L2=10, dx=.01, dy=-.01, theta 1=.01= theta2=.01
Please mail me if you can at hmishra@iitk.ac.in
