Daniel Smith
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Hi,
I have a 3D trig problem. After referring to this post (http://www.thehelper.net/threads/3d-trigonometry.118069/) I need a little more help, here is my problem.
I need to generate a formula that explains the end-point position of a robotic arm over time. I have already made a model that explains the position of the joint where axis 5 is, as per the diagram, but I am struggling with the last part.
Using these formulas from the thread linked above:
newX = x + distance * Cos(azimuth) * Sin(zenith)
newY = y + distance * Cos(zenith)
newZ = z + distance * Sin(azimuth) * Sin(zenith)
Anyway, for the purposes of the next step, imagine the position of the joint at axis 3 and axis 5 form a vector (which I know). Moving from axis 5 to the end point of the robot forms another vector and it depends solely on axes 5 and 6. How do I calculate the azimuth and zenith relative to the origin (the base of the robot)?
I have a 3D trig problem. After referring to this post (http://www.thehelper.net/threads/3d-trigonometry.118069/) I need a little more help, here is my problem.
I need to generate a formula that explains the end-point position of a robotic arm over time. I have already made a model that explains the position of the joint where axis 5 is, as per the diagram, but I am struggling with the last part.
Using these formulas from the thread linked above:
newX = x + distance * Cos(azimuth) * Sin(zenith)
newY = y + distance * Cos(zenith)
newZ = z + distance * Sin(azimuth) * Sin(zenith)
Anyway, for the purposes of the next step, imagine the position of the joint at axis 3 and axis 5 form a vector (which I know). Moving from axis 5 to the end point of the robot forms another vector and it depends solely on axes 5 and 6. How do I calculate the azimuth and zenith relative to the origin (the base of the robot)?
