clear all;

Exercise 2.2 - Inverse Kinematic Planar Arms

In this Exercise you will compute the inverse kinematic solutions of different planar manipulators.

Please store your solutions in the predefined variables!

Task description:

Compute the solutions to the inverse kinematics in order to reach a desired position or pose.

Answer all the questions and store your solution in the correct variable

Task 1

Reach the Position

$$ t_{\textrm{desired}} =\left\lbrack \begin{array}{c} 0\ldotp 3333\newline 0\ldotp 4989\newline 0 \end{array}\right\rbrack $$

w.r.t. frame 0

compute the solution to reach this position

Use the following variables to store your solution:

sol_1 (row vector as: [q1,q2])
```
sol_1 = []; 
```

Error using atan2
Argument must be real.

You can check your work by clicking the Run:

check_exercise('2-2-1')

Task 2

Reach the Position

$$ t_{\textrm{desired}} =\left\lbrack \begin{array}{c} 0\ldotp 2582\newline 0\ldotp 6944\newline 0 \end{array}\right\rbrack $$

w.r.t. frame 0

find all solutions to this problem

Use the following variables to store your solution:

sol_2 (Matrix where each row represents a solution as: [q1,q2])
```
sol_2 = [];
```

You can check your work by clicking the Run:

check_exercise('2-2-2')

Task 3

Reach the pose:

$$ T_{\textrm{desired}} =\left\lbrack \begin{array}{cccc} 0\ldotp 3303 & 0\ldotp 9439 & 0 & 0\ldotp 2828\newline 0\ldotp 9439 & -0\ldotp 3303 & 0 & 0\ldotp 6328\newline 0 & 0 & -1 & 0\newline 0 & 0 & 0 & 1 \end{array}\right\rbrack $$

w.r.t. frame 0

Find all inverse kinematics solutions

Use the following variables to store your solution:

sol_3 (Matrix where each row represents a solution as: [q1,q2,q3])
```
sol_3 = []; 
```

You can check your work by clicking the Run:

check_exercise('2-2-3')