Developed a code for Inverse and Forward Kinematics, with the robot parameters defined in the code, and assuming that the following leg lengths are given for the robot: 𝑙⃗ = [𝑙1, 𝑙2, 𝑙3, 𝑙4, 𝑙5, 𝑙6]𝑇 = [250.1730, 247.7072, 253.3073, 277.6336, 278.4548, 254.3322]𝑇
Feel free to change the parameters and leg lengths in the code as per your requirement. The results below are for the hexapod robot of the configuration I selected.
Calculated the pose (position and orientation) of the top platform, 𝑃⃗⃗ , if 𝛼⃗ = [𝑎, 𝑏, 𝑐]𝑇 represents:
a) ZYZ Euler angles in degrees.
Execute the code FK1 to obtain the pose when ZYZ euler angles are used.
b) XYZ Euler angles in degrees.
Execute the code FKP2 to obtain the pose when XYZ euler angles are used.
