Symbolic system of equations analitic solution

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abdelghani msaad 2022-5-19

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评论： Bjorn Gustavsson 2022-5-20

i want to solve this sistem and get analitically the equations in terms of x,y,z the uknowns are a,b,c:

x = l2*cos(a)*cos(b) - l3*sin(a)*sin(c) + l3*cos(a)*cos(b)*cos(c);
y = l2*sin(a)*cos(b) + l3*cos(a)*sin(c) + l3*sin(a)*cos(b)*cos(c);
z = l1 - l2*sin(b) - l3*sin(b)*cos(c); 

is there any software tool to solve this system?

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abdelghani msaad 2022-5-20

Immagine 2022-05-20 165735.png

they are the lengths of the link and are constant

i have three rotation joints which i define their position with a, b, c.

a and c rotate around z axis;

b rotates around y axix;

you can find attached the scheme of the robot thanks.

Bjorn Gustavsson 2022-5-20

The equations looks a bit dodgy to me, too much work to break down the details for me this time of the week. My suggestion is that you make one plot from above (z) and one from each horizontal coordinate to make sure you've derived the equations right.

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