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Constraints

Five constraints are used to define the robot model.  The first two constraints represent the two joints of the robot, and eliminate 9 of the total 12 degrees of freedom.  The OrthoRevolute4 constraint simply models a pair of revolute joints with intersecting orthogonal axes.

[Graphics:indexgr2.gif][Graphics:indexgr10.gif]

[Graphics:indexgr2.gif][Graphics:indexgr11.gif]

The last three constraints specify the three joint angles to position the robot arm.

[Graphics:indexgr2.gif][Graphics:indexgr12.gif]

[Graphics:indexgr2.gif][Graphics:indexgr13.gif]

[Graphics:indexgr2.gif][Graphics:indexgr14.gif]

SetConstraints incorporates the constraints into the model.

[Graphics:indexgr2.gif][Graphics:indexgr15.gif]