Tweak your robot dimensions and see how it will affect your work envelope and your precision. Then adjust your motor angles (thetas) or your tool position (XYZ) and see that the forward and inverse kinematics match.
| Base Radius (f) | mm |
|---|---|
| End Effector Radius (e) | mm |
| Base to Elbow distance (rf) | mm |
| End to Elbow distance (re) | mm |
| Steps per turn | |
| Center | |
| Cube Bounds | |
| Resolution? |
| Theta 1 | degrees |
|---|---|
| Theta 2 | degrees |
| Theta 3 | degrees |
| X | mm |
| Y | mm |
| Z | mm |
Original C code from Trossen Robotics Forums
© Marginally Clever Software 2012