Inverse Kinematics of 6 Axes Robots

[davidkranjc]

Hi, great video. Could you please, if possible reply with a link to the pdf document from the video. I would greatly appreciate it.

[danielsimmonds]

Elias, your video came in clutch. Do these same principles apply to a 5 DOF robotic system?

[crusorblaze]

Hi nice video. I wonder we apply this Jacobian matrix in finding the Singularities of serial 6 dof robot which joint 1 3 and 5 are in same axis and joints 2, 4 and 6 are perpendicular to their pairing joints and has no offset ( joint 1 and 2 has no offset but 3 and 2 has offset) like a Doosan M0617 robot

[alimannaa]

Awesome thanks. Can you share your document please

[mjollnirboy]

How to find the IK of a 5 DOF Lynxmotion Arm

[익명-nd]

Can you uploade the pdf files you used in this video? I am really interested in this inverse kinematic

[kpm]

.Hi just wondering if you made a typo in your RotZ.m? I thought it should be like:

function result = Rot_Z(angle)
result = [ cos(angle), -sin(angle), 0, 0; sin(angle), cos(angle), 0, 0;0, 0, 1, 0;0, 0, 0, 1]

?? Unless you used opposite direction to standard. Cheers
Great video though.

[jakekeip]

I was wondering, is it valid to apply this approach to a 4 DoF robot leg? To be specific, this robot leg is the Lynx Motion 4DOF T-Hex Leg. If so, should the base revolute joint be rotated perpendicular to how you usually draw it here when doing the inverse kinematics for the first three joints?