This article describes forward kinematics of the six degrees of freedom manipulator and its geometric inverse kinematics geometric.
The algorithm described in this article has not been strictly tested. Take your own risk while using it
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The robot structure is shown in the figure below:
This article describes the related information of robot kinematics, including the solution of rotation matrix, vector and mechanical arm pose, and using C# to describe the relevant algorithm.
The rotation matrix in linear algebra is used to make the vector rotate in the Euler space.
In robotics, the rotation matrix is used to solve the posture (orientation) of the robot joint. In three-dimensional space, the eigenvalue of the rotation matrix is 1.