Dear Arun, thank you very much for this video. Do you have a pdf file of the notes you are explain in this video? I think you are using Matlab, is is possible to have the code as well?
Sir I tried the same solution for 3R in python but somehow I am getting different values. I've tried checking this many times but couldn't come up with the solution import numpy as np x=795 y=0 z=1264 d1=450 a1=155 a2=614 a3=np.sqrt(200**2+640**2) print(a3) #first joint angle alpha=np.arctan2(200,640) #print(alpha) theta1=np.arctan(y/x) v1=np.cos(theta1)-a1 exd=x/v1 ezd=z-d1 v2=(exd**2+ezd**2)-(a2**2+a3**2) v3=2*a2*a3 v4=v2/v3 #print(' ',v4) theta3=-np.arccos(v4) theta2=np.arctan2(ezd,exd)-np.arctan2((a3*np.sin(theta3)),(a2+(a3*np.cos(theta3)))) theta1yaskawa=theta1*180/np.pi theta2yaskawa=theta2*180/np.pi theta3yaskawa=(theta3+(np.pi/2-alpha))*180/np.pi print(theta1yaskawa,' ') print(theta2yaskawa,' ') print(theta3yaskawa) Maybe I am doing something wrong but cannot point out where
Could you pls shared the mathlab code for theta4,5,6?
Dear Arun, thank you very much for this video. Do you have a pdf file of the notes you are explain in this video? I think you are using Matlab, is is possible to have the code as well?
Hanzhen harmonic drive gear , strain wave reducer,
robot gear joint, over 30 years experience
Sir could you share the matlab code and tasks please? That would be really helpful ☺
Sir if you can please state Q1,2,3 also. Because students need to identify basic steps before going further more
can you sur to give us this folder please.
You can download the datasheets directly from the manufacturer's website. Like in this case it is Yaskawa GP-12 Robot
Sir I tried the same solution for 3R in python but somehow I am getting different values. I've tried checking this many times but couldn't come up with the solution
import numpy as np
x=795
y=0
z=1264
d1=450
a1=155
a2=614
a3=np.sqrt(200**2+640**2)
print(a3)
#first joint angle
alpha=np.arctan2(200,640)
#print(alpha)
theta1=np.arctan(y/x)
v1=np.cos(theta1)-a1
exd=x/v1
ezd=z-d1
v2=(exd**2+ezd**2)-(a2**2+a3**2)
v3=2*a2*a3
v4=v2/v3
#print('
',v4)
theta3=-np.arccos(v4)
theta2=np.arctan2(ezd,exd)-np.arctan2((a3*np.sin(theta3)),(a2+(a3*np.cos(theta3))))
theta1yaskawa=theta1*180/np.pi
theta2yaskawa=theta2*180/np.pi
theta3yaskawa=(theta3+(np.pi/2-alpha))*180/np.pi
print(theta1yaskawa,'
')
print(theta2yaskawa,'
')
print(theta3yaskawa)
Maybe I am doing something wrong but cannot point out where
You have x/(cos(theta1)-a1) instead of x/cos(theta1) - a1 due to the v1.