[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:

https://00873727922344666445.googlegroups.com/attach/fa4952ef39c88/MeArmPiTechnicalOverviewV0-4DRAFT.pdf?part=0.1&view=1&vt=ANaJVrFIkZstFat91_5Z1mI77KfscNp0lI9zTZNKOVQ8kZAFbwPYfZcwItC_eETPFmpUuTFF6I4GsK_d6Woxu02gS9cDS26DFm4PpBr99vcP8m3HGdW-kKg

Imgur Album with some diagrams i made up in Visio and better formatted expressions for forward and inverse kinematics:

https://imgur.com/gallery/aOIZB9R

‚Äč

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
[link] [comments]