Hi, I have a cable driven robot arm consist of three joint and four links driven by cables from three pulleys. Each joint conneted to each pulley by cables independently. When I use inverse kinematic steps in maple I get these messages :
MB := zModel:-GetMultibody('simplify' = true):
"Performing constraint analysis..."
"The system has 6 degree(s) of freedom. It is modeled using 6
generalized coordinate(s) coupled by 0 algebraic constraint(s\
the problem is that I have six Generalized coordinates (3 joints + 3 pulleys) , I can find the inverse kinamatic of joint angles according to end effector position , the question is:
how can I apply it to pulley's angle?