IMG_1280
Motors L and R have strings A and B connected to pen P. If we start from a known point O we can use trigonometry and law of cosines to calculate the forward kinematics (have p, want a & b) and inverse kinematics (have a & b, want p)
Motors L and R have strings A and B connected to pen P. If we start from a known point O we can use trigonometry and law of cosines to calculate the forward kinematics (have p, want a & b) and inverse kinematics (have a & b, want p)