Newsgroups: comp.robotics
Path: brunix!cat.cis.Brown.EDU!agate!howland.reston.ans.net!torn!watserv2.uwaterloo.ca!watserv1!c7brown
From: c7brown@sail.uwaterloo.ca (BEACON me525 account)
Subject: ARCMate S-5 Inverse Kin.
Message-ID: <CqBr2v.DAr@watserv1.uwaterloo.ca>
Sender: news@watserv1.uwaterloo.ca
Organization: University of Waterloo
Date: Tue, 24 May 1994 20:47:18 GMT
Lines: 12

Hi,
   I am working on an ARCMate S-5 robot, and I am trying to figure out the
inverse kinematics.  It is basically a PUMA configuration, except that one 
of the wrist joints is offset by 100mm, so the inverse kin cannot be divided 
into separate xyz & rpy components.  If anyone has the solution it would be 
greatly appreciated.
   
Otherwise I have to do it the hard way... Solve it myself :) 

Casey Brown

c7brown@sail.uwaterloo.ca
