To achieve parametric inverse kinematic equation of a manipulator, the simplest equations in my case are in the form of prepared in the below pdf file. I tried different ways to solve it but I was unsuccessful. If you have any suggestion or idea in relate to this question, please let me know your opinion. The equation includes Sinus and Cosine of three angles theta16, theta18 and theta21 respectively and the rest of coefficients are constant numbers.

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