Kinematics
Inverse kinematics
Some key parameters
First, let's determine some key parameters of our robot's geometry. Let's designate the side of the fixed
triangle as f, the side of the end effector triangle as e, the length of the upper joint as , and the length of
the parallelogram joint as
. These are physical parameters that are determined by the robot. The
reference frame will be chosen with the origin at the fixed triangle’s centre of symmetry, as shown below,
so that the z-coordinate of the end effector will always be negative.