Parallel mechanism IK problem.
Posted: 07 Dec 2017, 12:11
Hello,
I am analyzing the mechanism consisting of a Base, and 4 parallel legs, each leg is constituting of 4 revolutes joints, these legs end up parallel to a moving platform in which I am trying to control:
I am replicating this motion:
http://www.anthrobot.com/omni_III/
I got inspiration of the parallelForwardandInverseKinematics scene to build the chains and make the loop closures.
My question:
Also:
Scene file:
https://ufile.io/l8zz2
Thanks for cooperation.
I am analyzing the mechanism consisting of a Base, and 4 parallel legs, each leg is constituting of 4 revolutes joints, these legs end up parallel to a moving platform in which I am trying to control:
I am replicating this motion:
http://www.anthrobot.com/omni_III/
I got inspiration of the parallelForwardandInverseKinematics scene to build the chains and make the loop closures.
My question:
- How do I make the IK linking the moving platform to the base, in the meaning, I want to give a specific orientation to the moving platform End-Effector(white color), and see the response of the first joints - joints1/2/3/4 - in the base (pink color)
Also:
- Why sometimes my joints rotate unproperly? I don't want to add a spherical joint instead of revolute one because that would lead to unrealistic analysis ...
Scene file:
https://ufile.io/l8zz2
Thanks for cooperation.