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Inverse Kinematics for a General Purpose Robot Arm That Moves in 3D

lesson

For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

Inverse Kinematics for a 2-Joint Robot Arm Using Geometry

lesson

We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

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  • Queensland University of Technology
  • Australian Centre for Robotic Vision
  • IEEE Robotics and Automation Society
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