Скачать или смотреть LabVIEW Simulation: Inverse Kinematics & Solution Switching for RRR Robot

This video demonstrates the Inverse Kinematics (IK) module of my 3-RRR Planar Robot simulation. Unlike Forward Kinematics, this solver calculates the required joint angles (theta1, theta2, theta3) to reach a specific Target (X, Y) with a specific Orientation (phi).
⚡ Key Features:
• Geometric Decoupling Algorithm: Solves the wrist center position first to simplify the 3-link chain.
• Multiple Solution Handling: Includes a dynamic "Elbow Up / Elbow Down" toggle switch to choose between valid robot postures in real-time.
• Workspace Safety: Implemented "Safety Clamps" in the math logic to prevent mathematical errors (NaN) when targets are out of reach.
• Formula Node Integration: Uses complex C-style logic within LabVIEW to handle the Law of Cosines and trigonometric inversions.

This VI allows for intuitive path planning by letting the user drive the end-effector directly in Cartesian space.

🛠️ Tools Used: LabVIEW 2025, Formula Nodes, Boolean Logic, XY Graphs.

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