Home / Questions / A planar two-link robot arm is shown in Figure 4.8 The coordinate system xy is the tool fr...
A planar, two-link robot arm is shown in Figure 4.8. The coordinate system xy is the tool frame and is attached to the end-effector. The coordinates of the end-effector relative to the base frame are expressed as
Suppose the lengths, in consistent physical units, of the two links are L_{1} = 1 and L_{2} = 2, and that x = 2.5, y = 1.4. Find the joint angles θ_{1} and θ_{2} (in radians) using Newton’s method with an initial estimate of (0.8, 0.9), tolerance ε = 10^{−4}, and maximum number of iterations set to 10.
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