L06: Chapter 3 - One-Link and Two-Link Robots

STEM Application is Kinematics

Math is Trig
Foundational Lessons in Applications of MathEmatics
STEM Core course
Fall 2024
January 22, 2025 1
 Learning Check-in : 5-10 minutes!

• A proactive approach before the exam 

versus
• A reactive approach after the exam! 

Instructions:
1. Date: write the date you
create this entry.
2. Concept: write down the
concept you are learning.
3. What I Now Know:
briefly summarize what
you know about the
concept as of this date.
4. Review the log after a
week and note how your
knowledge has changed.

January 22, 2025 2

 Review: Two-Link Robots

• Motion = Speed + Direction + Position

• where speed is assumed constant in our basic applications

Know Angles (𝜃) + Length (l)

• Direct (forward) kinematics:

 Find Position (x, y)

• Inverse (reverse) kinematics:

 Find Angle (𝜃)

Know Position (x, y) + Length (l)
Did you remember

the critical

CONCEPTS ?

Now next steps…

January 22, 2025 3

 Syllabus: Your ‘specs’ to success

• Syllabus: A syllabus (or specification) is a document that

em
ind
er
communicates information about a specific course and defines
R
expectations and responsibilities. (Google)

Out of class work

Math is here!

Studying is here!

January 22, 2025 4

 Inverse kinematics of two-link robots
Understand the process! Here’s the math!
Can you describe how to get ‘solutions in words’?

Given: Position -
Length - (& 𝑂𝑃 =√ 𝑥2 + 𝑦 2
OP)

Ask: Angle -

Two situations solving an angle:

A. 3 known sides (a, b, c)
 1 unknown angle
(𝛾 )
B. 2 known sides (a & c) &
1 known angle (𝛾)
 1 unknown angle
(𝛼 )

January 22, 2025 5

 Inverse kinematics of two-link robots
Understand the process! Here’s the math!
Can you describe how to get ‘solutions in words’?

Algebraic solution - laws of cosines and sines

Situation A: 3 known sides (a, b, c)  1 unknown angle (𝛾 )
Law of Cosines

Situation B: 2 known sides (a & c) & 1 known angle (𝛾) Two situations solving an angle:
A. 3 known sides (a, b, c)
 1 unknown angle (𝛼 )  1 unknown angle
Law of Sines
(𝛾 )
B. 2 known sides (a & c) &
1 known angle (𝛾)
 1 unknown angle
(𝛼 )
How to apply them to inverse kinematic problems?
Hint: In words, describe the ‘how to steps’ to solve the problem!
January 22, 2025
Now pick up your calculator !
6
 Inverse kinematics of
two-link robots 1. Join the line OP and calculate OP
• Pythagorean Theorem:
Solutions Steps 2. Sketch and label 5 variables
• Variables includes: a, b, c, γ, α, and β
3. Find the unknown angle γ
Inverse Kinematics • Use laws of cosine:
Known: P(x,y)
4. Find the angle θ2
Unknown: •
• [elbow-up: positive θ2, elbow-down: negative
θ2]
4
1 5. Find the unknown angle α
y • Use laws of sine:
5
3 2
6 6. Find the unknown angle β
Label: a, b,
c, ߙ, β, ࢽ 7. Find the angle θ1
7
• The sketching is important: 1) which quadrant
x the arms are located; 2) whether it is elbow-
up or down problem
• [E.g. Quadrant 1] Elbow-up:
January 22, 2025 • [E.g. Quadrant 1] Elbow-down: 7 7
 Problem: Two-link robot (3-25a)
Sketch

• STEM Application: Direct or Inverse kinematic?

• Units in solution:
• Primary math skill(s):
Solution technique in words Calculations
1. Determine x by cosine function

2. Determine y by sine function

3. Get the numbers with units

January 22, 2025 8
 Problem: Two-link robot (3-25a)
Numerical Solution

Verify calculations

with annotations on

your SKETCH!

Your solution:

• P(x,y) 

• Unit =

January 22, 2025 9

 Problem: Two-link robot (3-25b)
Sketch

• STEM Application: Direct or Inverse kinematic?

• Units in solution:
• Primary math skill(s):
Solution technique in words Calculations
1.Join the line OP and calculate OP
• Pythagorean Theorem:

2.Sketch and label 5 variables

• Variables includes: a, b, c, γ, α, and β

January 22, 2025 10

 Problem: Two-link robot (3-25b)

Solution technique in words Calculations

3.Find the unknown angle γ
• Use laws of cosine:

4. Find the angle

•
• [elbow-up: positive ,
elbow-down: negative ]

January 22, 2025 11

 Problem: Two-link robot (3-25b)

Solution technique in words Calculations

5. Find the unknown angle α Elbow-down solution for 𝜽 1:
• Use laws of sine:

6. Find the unknown angle β

7. Find the angle

• The sketching is important: 1) which
quadrant the arms are located; 2) whether it
is elbow-up or down problem
• [E.g. Quadrant 1] Elbow-up:
• [E.g. Quadrant 1] Elbow-down:

January 22, 2025 12

 Problem: Two-link robot (3-25b)
Numerical Solution

Verify calculations

with annotations on

your SKETCH!

January 22, 2025 13

 Other STEM applications

• Different topic, same math – TRIG!

• Hint:
– Match words in the problem to variables in
the figure!
– Look for math techniques to help get a
numerical solutions!
– Reflect on ‘Solution Technique in Words’
and then ‘Calculations’!

January 22, 2025 14

 Problem in Electrical Engineering (3-30)

Sketch

• STEM Application:
• Units in solution:
• Primary math skill(s):
Solution technique in words Calculations
1. Determine Z as hypotenuse of R and XL

2. Determine 𝜃 by arctan function

3. Examine 𝜃 according to which quadrant the point is in

January 22, 2025 15
 Practice:
Problem in Electrical Engineering (3-30)
Sketch

• STEM Application:
• Units in solution:
• Primary math skill(s):
Solution technique in words Calculations

January 22, 2025 16

 Practice:
Problem in Electrical Engineering (3-30)
Sketch

• STEM Application:
• Units in solution:
• Primary math skill(s):
Solution technique in words Calculations
1. Determine V as hypotenuse of VR and VL

2. Determine 𝜃 by arctan function

3. Examine 𝜃 according to which quadrant the point is in

January 22, 2025 17
 Solutions: Not the whole story! Why?

3-30 Given: 3-34 Given:

impedance triangle for a resistor phasor diagram of the series RL circuit
inductor in as shown shown

• Solution: • Solution:

z  100 2  30 2  104.4Ω  z

The phase angle is

 30 
 tan  1   16.7 
 100 

January 22, 2025 18

 L06 Homework  Now Practice

 Do problems using ‘Phoenix Format’.

 Problems from your textbook at the end of Chapter 3.

 3-23 – Two-link robot
 3-26 – Two-link robot
 3-31 – Electrical Circuits
 3-24 – Two-link robot
 3-35(b) – Two-link robot

 Post in on Canvas as a .pdf file.

 You may hand write your problems, scan, and submit as a .pdf
file.

 DUE: All homework is must be posted in Canvas Assignments by the

start of your next class.

January 22, 2025 19 19