X-post from r/learnmath
I’m doing a small project involving a hobby robot and have come across a technical document describing many of the parameters involved in modelling it.
I have derived the forward kinematic expressions and can clearly see how these have been calculated based on basic trigonometry laws (SOH CAH TOA) and the geometry of the robot but I am struggling to see how the author derived the expressions for the inverse. I just need a point in the general direction for reverse-engineering the inverse kinematic expressions.
Link to Technical Overview Document for Robot with forward and inverse kinematics analysed:
Imgur Album with some diagrams i made up in Visio and better formatted expressions for forward and inverse kinematics:
Any help would be much appreciated.
TL:DR: Need help showing working for Inverse Kinematic equations shown in Technical Overview document.