Inverse Kinematics of Robot Wrist (with solved example) | Robotics 201

In this video, we solve a numerical example of doing inverse kinematics of a robotic (spherical) wrist. The objective is to figure out the joint angles that will make the end-effector reach the desired orientation.

For the desired position, we will need to perform full-fledge inverse kinematics which we will be covering in the next video.

If you have any questions or confusion, comment below and I will reply back soon :)

✨ What we covered ✨
00:00 Numerical Example
00:52 What do we need to find out?
01:15 Methodology to solve IK of Robot Wrist
02:23 Solving it numerically
03:42 Clever trick to obtain both solutions
05:27 Solving for joint angles
06:43 Inverse Kinematics Solutions & Robot Configuration

❓ Do you have trouble understanding or find this concept difficult?

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This video is part of the Robotics 201 tutorial series which covers kinematics and modeling of 3D robots.

This tutorial lesson series starts out from the very 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 3D robots
2. Homogeneous Transformations for 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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Robotics 201 - Robotics full course for beginners - Kinematics and Modeling

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[Percineer]

Thank you so much for this video as a high schooler learning robotics on my own these videos help immensely. Also I was wondering if you could do some coding videos. Like how to integrate inverse and forward kinematic into code/microcontrollers(like an ardunio)

[vyyy]

Hello thank you for making these video. they are super helpful. One question: how do you get 2 values for theta_4 and theta_6? since both value of theta_5 get cancelled in both equations? tia!

[Karl_HG]

How would the solution be using Denavit Hartenberg?

[EngineeringSimplified]

✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment).
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