Inverse kinematic angles

Inverse kinematic angles

Hello everyone, first of all, thank you to everyone who helped me in my previous post. I was able to replicate my angular robot using the Peter Corke’s matlab toolbox. Y ordered my bot to reach the following position:

PX = 150;

PY = -150;

PZ = 100;

Is there a way to get multiple solutions for this problem? Given the fact that I want to approach the desired end effector position with the gripper pointing downwards and also, getting angles between 0 and 180 degrees.

Robot plot

submitted by /u/emilgil
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