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inverse kinematics - robot projects issues

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dsp_

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inverse kinematics

A group of ours does a simple robot project which has to do with inverse kinematics.
since the arm is built that simple(2 joints) we could reduce calculations to 2d space with a closed form solution ..
now i'm looking for algorithms/advices which are optimal for an 8051 derivate..
i think there will be a problem with floating points because our rom is limited to 4k and an extension would take too much ports.

the 2 solutions I considered are:
taking the equation of the "rather big" closed form solution an puttin in the variables for the numeric solution.

iterate trought puttin an virtual force on a model of the arm until it is in a specified range.


next problem would be software pwm'ing through a shift register while receiving data on rs232(probably I will just clear the cts line)

any help is appreciated
TIA
dsp_
 

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