Robot Inverse Kinematics With A Hexapod Leg

This video has a detailed inverse kinematic solution for a 3 axis robot and videos of it in action applying the solution. There are also some mistakes that I cover that happened along the way and crucially unlike most other videos the arm segments are NOT the same length.

The code can be found here and is free to use and adapt:

Music from #Uppbeat (free for Creators!):

[pieterpennings]

really cool. I am in the process of making my own hexapod and other projects that include inverse kinematics and I got this video suggested randomly and it's really well made.

[GCKteamKrispy]

Just some basic geometry, but my professor had to talk in some complicated engineering language. Thank you so much, very helpful

[JamesNewton]

Excellent video! I expect I will use it with students in the future. I agree with others that less bubble popping would be good. I'm also not into cartoon violence. Love the "why didnt that work" bit in the middle because students often give up at those points and it great that you modeled working through it.

[davidomalley]

This is the clearest explanation I've ever seen. Great job. You deserve way more subscribers.

[GuilhermeLimait]

The most simple way to learn it that I’ve seen so far, thanks for it❤

[behrampatel]

Thank you. This is better than many videos out there .
cheers

[antonik]

nice video, but those bubble sounds are waaaay too loud, gets very annoying to watch

[mohanadebada]

thank you for the math part btw its really fresh to see some math in things like this

[jeremiahbullfrog]

Fascinating. Thank you for showing how to derive the formulas, this stuff seems like magic but it all comes down to maths.

[federicoromero]

i thought inverse kinematics was extremely hard. no fear any more! thanks for the video

[jilliebean]

Awesome project! I am so impressed you were able to get those plastic servos working for this project. For me, those servos break when I look at them wrong.

[BrickRoom]

This is the best IK tutorial video on YouTube, at least I think so. Thank you for this. Can you do a video on transformation and rotations?

[maurovianna]

Thanks for the great explanation! I already saw a code for such a robot but now I finally understood it due to the math and interpolation.

[durgeshbg]

03:11 that's where i lost track, cool work btw might get into robotics sometime in the future, thanks

[asgmvenom]

Interesting video with a good explanation. I want to mention that you can use the same rules to make the leg move in a straight line rather than an arc instead of using interpolation.
How:
Use the variable names at 3:50 and 11:30 as a reference.
Let J0 be the third angle of the triangle J3-J2-J0 at the cross point of J2 (Y) and J3L.
Get the lines j3, j2, and j0.
*You have to calculate the j3, j2, and j0 lines when the leg is in the stand position.
Now you can calculate the angles J3, J2, and J0 from the given j3, j2, and j0 lines.
The trick is to make the j3 line equal = j3/CosJ1.
now the angles J3 and J2 will depends on J1
You just need to set J3 and J2 in the code.
J3 =
J2 =
Boooom you got a straight line.

Thank you!

[MenilekAlemseged]

Man just came into my recommendation and saved me
Tnx G! Subbed

[onurkarakas]

This video is very epic, thanks for sparing time to make such a video.

[grahamnichols]

That is really well explained = an instant subscription. Tada!

[oluwaferanmi]

This guy is low key funny, nice video by the way. Keep it up.

[gabrielpiazza]

This is awesome, you explained everything so well, thank you for the good and clear content sir. Keep it up.