Inverse Kinematics of Robots | Robotics 101

What is Inverse Kinematics and how do we use Inverse Kinematics to make the robot move from point A to point B?
IK is one of the most interesting and most widely used concepts in the world of robotics. Very briefly, it is calculating the robot parameters (link lengths & joint angles) in order to make the robot go to a specified location with a specific orientation.

It is exactly the opposite of forward kinematics and is therefore sometimes called backward kinematics as well. The best part about it is, that doing inverse kinematics is quite easy, especially if you have a good grip on forward kinematics.

00:00 - What is Inverse Kinematics?
01:27 - Example of Inverse Kinematics using 3DOF robot
01:56 - 3DOF moving robot application
03:33 - Solving Inverse Kinematics
06:35 - Cool trick to solve sin & cos linear equations
08:54 - Solutions of Inverse Kinematics

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You can download the 3DOF robot app that I coded on MATLAB where the robot's position can be changed by rotating the joint angles here:

⏩ Watch the next video where we do an even more interesting example of Inverse Kinematics :

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This video is part of the Robotics 101 tutorial series which covers kinematics and modeling of 2D & 3D robots.

This tutorial lesson series starts from the basics of robotics (assuming no prior knowledge) and gradually builds on in bite-sized videos of 10 minutes or less. By following along, you will soon become extremely good in the kinematics and modeling aspects of robots. And these will help you to design and build robots.

Here's what we will cover in this video series:
1. Co-ordinate Transformation for 2D & 3D robots
2. Homogeneous Transformations for 2D & 3D robots
3. Forward Kinematics
4. Inverse Kinematics
5. Robotic wrists (end-effector)
6. End-effector Velocities and Jacobians
7. Singularities of robots
8. Gimbal Locks
9. Forces & Torques

I will be uploading 1 video per week. If you find these helpful, don't forget to share and subscribe!

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👉 Link to the Robotics 101 playlist

Robotics 101 - Robotics full course for beginners - Kinematics and Modeling

#inversekinematics#roboticsforbeginners #roboticsTutorials #robotics #learnrobotics

[EngineeringSimplified]

✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment).
👉Don't forget to SUBSCRIBE to the channel for more such videos & courses: bit.ly/Engineering-Simplified

[nerviantone]

This is a really great tutorials. The way you represented the axes using graph on paper made in really easy to understand

[ellilou]

this video explained and described kinematic modelling really well, thanks for the video it's really helpful!

[ercanduzgun]

Really great and useful teaching. Thanks for sharing your knowledge with passion.

[NanoElektron]

very helpful! so much effort is put into explaining and simulation, Keep going!

[Captain_Vitorio_Muscovy]

Mr. Zain,

I'd like to first thank you for sharing your knowledge and dedication to make videos with such great quality, I'm sure it takes a lot of hard work to produce.

If I may ask you a question, I'd like to understand why at 7:21 is ɣ +- Cos^-1(15/√ (15/(18^2+6^2)))

The "+ -" is the only part I did not understand why (could not find a trigonometric for it)

Thank you in advance.

[gokulakrishnanm]

Hey I’m Machine Learning Engineer with no robotics domain knowledge now interested in robotics where should I start please guide me

[rodmcmahon]

Hi. Just found this.. Great to see the way this is presented. However have a little problem with maths. You square 2c(Theta1+theta2) and add to square of 2s(Theta1+theta2)
shouldn't the answer be 4 (c2(1+2)+ s2(1+2)) not 2(c2(1+2)+s2(1+2)

[sudars]

Such a nice video, thanks for elbroating in detail about the each equation.

We can use a fsolve in python to easily solve this equation, with guessess.

Thankyou for your video

[obensustam]

It is great that you support your video with a Matlab application. I understood better with that software.

[DarshJTech]

Really great man! You're probably the only Indian creator to make teaching videos on these topics in Robotics! Very inspiring, and always looking upto your channel for new videos! 🔥👏🏻

[Mossskaterhans]

Hi man I have an exam coming up. We need to understand ch 3 4 and 5 of our syllabus . This entails implementing the Jacobian as well as Lagrangian Mechanics for a 2 dof .

[TimothyRiggs-fb]

Appreciate the content. When you simplify equations you use trig identities that you are obviously very familiar with, however your viewer may not be as familiar with the identity. Thus on future videos it would be helpful to folks like me to just name the identity you used. I found them all eventually but had to go searching to figure out your steps. The cos(gamma)sin(theata) identity took a bit for me to find. All still appreciated though.

[indratwins]

Thanks A lot. This is very useful fo me

[wonderingslacker]

Hi, thanks a lot for the video!

Did you use algebraic or geometric way of solving?

And I believe your voice is just fine, 😅, please keep using it (saw a comment underneath)

[virility]

Why did u add the third rotation?

x = 3 cos(01) + 2 cos(01 + 02) + 1 cos (01 + 02 + 03)

[cryptonitor]

Very interesting. Also nice accent that makes it enjoyable to listen to what you are saying

[ZalhTube]

This is why engineers need to be paid $ 500, 000 USD a year!!!

[gari]

what if my end point is fixed of a 3R object which has 3 links of length 3 what will be the value phi and also how do solve these equations using a software

[mioszsoliszewski]

I'm blind or in 6:40 is mistake? 4 = 9 +1+a (a is sinTheta1+cosTheta1).
4 = 10+a => 4-10 => a => -6 = a
So on the right should be 18cosTheta1 + 6sinTheta1 = 6.
Please correct me if i'm wrong.