2R-manipulator Geometric Modeling
| Q1: Direct Geometric Model |
( θ 1 , θ 2 ) → ( x , y ) (\theta_1,\theta_2) \rightarrow (x,y) (θ1,θ2)→(x,y)
O P → = O A → + A P → \overrightarrow{OP}=\overrightarrow{OA}+\overrightarrow{AP} OP=OA+AP
O P → = l 1 u → + l 2 v → \overrightarrow{OP}=l_1\overrightarrow{u}+l_2\overrightarrow{v} OP=l1u+l2v
Here,we know u ⃗ = [ c o s θ 1 s i n θ 1 ] \vec{u}=\begin{bmatrix} cos\theta_1 \\ sin\theta_1 \end{bmatrix} u=[cosθ1sinθ1],and v 1 ⃗ = [ c o s ( θ 1 + θ 2 ) s i n ( θ 1 + θ 2 ) ] \vec{v_1}=\begin{bmatrix} cos(\theta_1+\theta_2) \\ sin(\theta_1+\theta_2 )\end{bmatrix} v1=[cos(θ1+θ2)sin(θ1+θ2)]，
For the direct geometric model,we have
P x = l 1 c o s θ 1 + l 2 c o s ( θ 1 + θ 2 ) P_x=l_1cos\theta_1+l_{2}cos(\theta_1+\theta_2) Px=l1cosθ1+l2cos(θ1+θ2)
P y
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