q1

q2
0
20

-30

50
-45

-80
20
20
20
20

170
150
100
90
130

q1

q2
20

-30

50
-45

-80
20
20
20
20
20
20

170
150
100
90
130
85
85
-80

CINEMATICA DIRECTA
q3
px
py
0
0
17
20
20 15.2947
5.5668
-10
8.8451
-5.1067
80
-30 0.2642
-0.2642
-70
-2.4862
14.1002
0
-13.8346
-5.0354
0
-2.7740
-1.0096
0
0
0
45
-6.8388
-2.4891
CINEMATICA DIRECTA
q3
px
20
20 15.2947
-10
8.8451
80
-30 0.2642
-70
0
0
0
45
85
5.6813
90
85
85 1.0499

pz
0

8
12.1042
21.5227
24.5162
5.7537
16.5
24.7417
25
22.1735

py
5.5668
-5.1067
-0.2642

pz
12.1042
21.5227
24.5162

2.0678

19.9543

-5.9540

19.9543

robot d
q1

q2
30

q3
-52

q4
12

q5
-56

q6
10

-78

CINEMATICA INVERSA
q2a
q2b
0
-180
0
20
-160
20
8.3046
17
-30
55.8733
50
-45
-45
97.4076
80
100
100
10
-27.833
-160
-160
30
30
-160
-160
80
80
0
0
90
90
-160.0001 19.9999 75.6416
49.9999
q1a

q2a

q3a

q3b

0
20
-20
9.9982 -10
30
-30
70
-70
0
0
0
0
0
0
44.9999-44.9999

CINEMATICA INVERSA
q2a
q2b
20
55.8737
80

q3a
20
10
-30

20

41.3443

-85.00

-80

85

85

q1a
20
-30
-45

q2a

robot de 6 grados
px
py
pz
9.7458
4.2138
168.5246

q1

q3b

q2
30

q3
-52

q4
12

-56

metodos geometricos
Q2 menores a 90 grados

metodos numericos
funciona para angulos
menores a 90 grados

q5

q6
10

-78