Inverse Kinematics of Articulated Manipulator

[sidneykantor]

It's clear you are a very intelligent individual. I'm envious! Thank you so much for such clear and easy to follow videos!

[annieshd.k]

this really saved me with my final year project. we were stuck at this part trying to figure out how it's done. I watched this video just once and there it is, the solution to our problem. THANK YOU SO MUCH FOR THIS WONDERFUL EXPLANATION...

[umairsafdar]

I was literally struggling for almost 1 week with inverse kinematics of this articulated manipulator. These videos and playlist of yours are a blessing for me. Thank you soo much!!

[carlosvillanueva]

you are an angel. I'm about to cry!!! I am doing a 5 dof arm and no one at school was able to help me solve the inverse kinematics of my arm. I really love your videos. Now i gotta add a camera for CV. Thank you so much! I'll make sure to reference your work.

[karlranile]

my goodness! how did I not find you earlier! thank you so much!

[RENIELTUBE]

Great explanation.. You are very good at describing the context of things as you go along. Are you planning on expanding this to cover dynamics too?

[AS]

Really you are a Teacher....I understand very easily...

[CabinetBuildersWorkshop]

God thankyou, you are the best. I really appreciate the context in every explanation because most people just jump right in which was leaving me confused and frustrated. Thankyou so much.

[farhanahamed]

thank you mam for the excellent, calm explanation!!

[jlawrence]

Oh, YouTube suggested the video I was looking for.  You have a video not attached to course 1 or 2  playlist which presented the IK solution for articulated.  So, my question is answered. Maybe consider attaching it to Course #1, just before sensors? Great Video !!

[haydenhoodless]

You mention in one video that we can obtain equations for X, Y and Z from the final homogenous transformation matrix and extracting the displacement vector from it, and that we can solve joint variables backwards from that although it makes a set of 3 simultaneous equations that are obviously complicated to solve, and this method is easier. I'm curious to know if it's possible to solve the joint variables from the displacement vector with python and let the code do the work?

[rinkashime]

Hello, thank you for the video and explanation, though I do have a question. I the robotic arm's end effector is at the very top(like the links are all lined up in the Z axis). Meaning the coordinates are X=0, Y=0, and Z=a1+a2+a3... according to the first equation won't the answer be undefined? So what is the work around for that? I am programming my robotic arm using 3 stepper motors with similar arm config to your drawing. and that I am having a problem with the output of the equation because it is undefined. It outputs "nan"

[haroonjavaid]

Respected Angela Sodemann
Will you please upload the lecture of Matlab programming related to trajectory of the robot and calculation of Arm Matrix???

[blodhgarm]

Would the equations for elbow down differ much from the elbow up configuration?

[brightview]

There is a way to get only positive th1 th2 and th3 ? Because of the physical constrains the Negative Th2 that produced is not useable. Because x=0.2 y=0.2 z=0.3 gives th1= 45 th2=-60 th3 = 81 .
But i can not change the value th2 with the theoreme that adds 180 degrees . Because changes the desired coordinates.

[waelkhammassi]

hey, i have a question. i have a 6 dof articulated manipulator. basically i have a servo to control the leaning of the end effector and another servo to control its orientation. should i continue doing the math for theses joints as well? ( theta 4 theta 5 etc..)

[correouno]

Do you know where I can find the inverse kinematics with homogeneous matrices or algebraic method?
I dont resolve :( equations

[kingoftheironham]

Can you please explain to me how you derived theta 1 inverse tan y/x at roughly 9 minutes into the video. Thank you!

[qwoperio]

Hello can i kindly ask how do u exactly solve for the values of x0_3, y0_3, & z0_3?

[griouimohammedamine]

Thank you so very much Angela, your Explinition was pretty good, I have please a quetion, why is r2 = (x²+y²)^(-1/2). ??? . I mean why r2 was that distance (Not pitagors Form)