[Question] Help Deriving Inverse Kinematics of simple robot arm

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.

submitted by /u/Euaitken92
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