I am trying to do an inverse kinematics analysis on a rigid body tree that has 3 rigid bodies, all with revolute joints, operating in a 2D plane. One of the contraints of the system that this is based off is that the first and third body must be parallel. How would I apply a constraint to ensure that this happens? I am attempting to mimic the physical motion of the model below, where the base frame is the hole near the top of the 3D model.I am trying to do an inverse kinematics analysis on a rigid body tree that has 3 rigid bodies, all with revolute joints, operating in a 2D plane. One of the contraints of the system that this is based off is that the first and third body must be parallel. How would I apply a constraint to ensure that this happens? I am attempting to mimic the physical motion of the model below, where the base frame is the hole near the top of the 3D model. I am trying to do an inverse kinematics analysis on a rigid body tree that has 3 rigid bodies, all with revolute joints, operating in a 2D plane. One of the contraints of the system that this is based off is that the first and third body must be parallel. How would I apply a constraint to ensure that this happens? I am attempting to mimic the physical motion of the model below, where the base frame is the hole near the top of the 3D model. robotics, inverse kinematics MATLAB Answers — New Questions

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