Robotics 1

Inverse Kinematics for Position

Inverse Kinematics for Position

Inverse kinematics is the problem in which we know a position we want the end-effector to go to, and we need to find the values of the joint variables that move the end-effector to that position. In this video, we learn the 'graphical approach' to inverse kinematics, see some examples, and add the inverse kinematics equations to our PSoC code to position the end-effector of the manipulator we have built on our board.

To complete this lab activity, make a video that includes the following in one video:

(1) You saying your name

(2) In your PSoC code, type in a target X,Y position for the marker (the end-effector), and show that the marker moves to the correct position.

(Today, the deliverables for graduate students are the same as those for the undergraduates)

(1) You saying your name

(2) In your PSoC code, type in a target X,Y position for the marker (the end-effector), and show that the marker moves to the correct position.

(Today, the deliverables for graduate students are the same as those for the undergraduates)

3-Degree of freedom Inverse kinematics is more difficult than 2-DoF only in the number of equations and the 'ingenuity' you have to use to find the right triangles to use. Here, I present some examples of 3-DoF Inverse Kinematics.