Inverse Kinematics

JOSE FRANCISCO VILLA TIBURCIO

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Jan 14, 2020, 7:40:41 PM1/14/20

to Thor: OpenSource 3D printable Robotic Arm

Hello, what is the code used in Sympy to calculate the inverse kinematics fo the thor robot.

I was hoping if anyone has the code please.

Angel LM

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Jan 21, 2020, 12:58:58 PM1/21/20

to Thor: OpenSource 3D printable Robotic Arm

Hi Jose,

I have done the calculations for the Forward Kinematics using SymPy, but not for the Inverse.

Here is the code I used for the FK calculus, it may be helpful!

Best regards,

Ángel L.M.

JOSE FRANCISCO VILLA TIBURCIO

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Jan 29, 2020, 6:38:38 PM1/29/20

to Thor: OpenSource 3D printable Robotic Arm

Thank you Angel by the information, it helped me a lot.

I have a nother cuestion, you will have a link to dowload the robot assembly (CAD)?, because I would like to do a simulation.

Greetings!!!

Angel LM

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Jan 30, 2020, 2:43:17 PM1/30/20

to Thor: OpenSource 3D printable Robotic Arm

Sure Jose,

Inside the folder "freecad-src" at Thor's Github you can find the ThorAssembly.fcstd file it is in FreeCAD format, but is easy to export the parts you need to other format (stp, stl, etc...)