Help with inverse kinematics for a robot leg – I’ve solved for 5 bar mechanisms before using simple geometry, but I can’t figure this out at all – the coordinates are the input location of the end effector and theta is the angle being driven (other joint is free-rotating). E and F are one member.

Help with inverse kinematics for a robot leg - I've solved for 5 bar mechanisms before using simple geometry, but I can't figure this out at all - the coordinates are the input location of the end effector and theta is the angle being driven (other joint is free-rotating). E and F are one member.
submitted by /u/LocknutBushing
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