Search Results for: inverse kinematic

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

For real robots there are a few extra things to think about. Is a particular point actually reachable? Our old friend, singularity or gimbal lock reappears in the wrist.

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.

We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.

We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.

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

We consider a robot with three joints that moves its end-effector on a plane.

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

We consider the simplest possible robot, which has one rotary joint and an arm.

We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.