Robotics

I don't see q, u, v, or w in the diagram......

Hello sir.

I thing I can help calculate the angles. By q, u, v, w do you mean the angles of the joints?

Please let me know if you still need this, so I wont start to do the math without you needing it anymore.

:D

Hello, Yes I need help calculating the angles of the joints please help me out much appreciated

You can do it your self by using D-H table & matrix multiplication

For that you need to know particularly 4 things like

A-length of arm horizontally w.r.t X-Axis(cm)

D-length of arm vertically w.r.t Z-Axis (cm)

Theta-angle of twist(degree)

Alpha- angle of placement w.r.t origin(degree)

You can also use Roboanalyzer where u can get 3D model of the arm and the matrices needed to get a final formulae to estimate position,orientation and notation of the End Effector