2.5.2 Subchain (R-L)-P-S
Figure 2.12 shows a subchain (R-L)-P-S. The inverse
kinematics is similar to that of the subchain (R-L)-R-S.
can write the equation to express the location vector of
point C with respect to the local fixed coordinate system
ox0Y0Z0 as follows:
C = A1A2C3
Cx
Cy
C
1
0 E
CLb
:ab
0
o
i r
0
o
da
1
i t
COa(a + b)
SBa(a + b)
da +
+ seaSabdb
- CGaSabdb
Sabdb
(2.12)
(2.13)**
Premultiplying both sides of Eq. (2.12) by A2-1Al-1
yields
b = CxCea + Cysea a (2.14)
** CO can also be obtained by using the method in [44],
which is presented in Appendix A.2.