How to get two links to always be parallel to each other as my robot model moves

So I have a 3 link robot leg in which the 1st link and the 3rd link around connect with a 4-bar linkage so that they always move parallel to each other. I have my robot leg model as a URDF that I import to matlab and work with using the robotic system toolbox. I saw in the matlab documentation that the URDF tag is not supported, which is what one would normally use to simulate two links being parallel by having one joint angle be the same as another joint angle at all times. I was wondering if there was a way to manually enforce a similar constraint in matlab so I can get the intended robot behaviour.

Answer 1

[Karsh Tharyani]

Hi Challen,

You can try modelling this as a four bar linkage using a constraintPositionTarget

Please refer to this documented example:https://www.mathworks.com/help/robotics/ug/solve-inverse-kinematics-for-a-four-bar-linkage.html

Hope that helps!

Best,

Karsh