Analytical Inverse Kinematics Part 1

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Basics of Analytical Inverse Kinematics along with the solution for the 2DOF planar arm are shown in this video.
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Doc I have a question about 5 axis systems that need a bit more attention to detail and some calculations. Do you have an email I could send my query to ?

danielsimmonds
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It shd hv been mentioned that when calculating in Excel, it will be atan2(x, y) instead of atan2(y, x)

SamarendraRoy