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Início › Fóruns › Temas ou Discussões › How to control AL5D servo angles directly in FlowBotics › Resposta a: How to control AL5D servo angles directly in FlowBotics
Hello ,
The following guide (towards the bottom) gives a pretty easy idea for inverse kinematics for a similar arm:
https://manualzz.com/doc/11831…..he-m100rak 1
You calculate the radius and angle based on the the x,y coordinate of the gripper (don’t need z height here), which is used for the angle of the servo in the base. You then need to define the gripper angle with respect to the ground, and using the radius, use simple trigonometry to calculate the other two angles (shoulder and elbow) to reach that z height.
Once again, since the wrist angle doesn’t really affect the x,y,z coordinate of the end of the arm, you need to set it as opposed to calculate it.