#### Inverse Kinematics for a 2-Joint Robot Arm Using Geometry

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

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

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We consider a robot with four joints that moves its end-effector in 3D space.

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We consider a robot, which has two rotary joints and an arm.

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A more efficient trajectory has a trapezoidal velocity profile.

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The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.

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We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.