Inverse Kinematics (with solved example) | Planar RRP robot | Robotics 101

In this video, we do another example of Inverse Kinematics with a planar robot. This is a very interesting robot that not only has revolute joints but also has a prismatic joint making the robot parameters include both angles and a link length. If you are curious, it is called an 'RRP' robot.

00:00 - Overview of the planar robot
01:15 - Problem definition
02:35 - Solving Inverse Kinematics
10:56 - Both possible solutions
11:22 - Solutions visualized

⏩ Watch the next video here :

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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

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[fabehazafar]

Pretty well explained, thank you for detailed explanation with examples

[HenryShin-qxbq]

Thank you for the lesson! I cam e here finally going all the way around.
But i have questions! What if there is no initial information about the angles..? And if it is like 6DoF..?

[nakawung]

Quite a good explanation. Though, I can't understand why the length values were negative

[abdulrafaykhan]

can we combine H1 and H0 and represent it as [ cos(theta) -sin(theta) 4 ; sin(theta) cos(theta) 2 ; 0 0 1 ]

[Techinigbo]

Why didnt you label theta 2 rotation as H3 .since you labelled one H1

[Azooz]

great video, but I found a problem with the calculation for theta 1 when using l2a, I get different answer when I calculate, although I am using same equation, I get theta1 =15....am I doing something wrong?

[sutheshnaidu]

why for H4 the the angle is negative? Isnt it the same direction as H3

[minidupradeeptha]

hey man. one little problem. when solving the inverse kinematics, if the order of the (H0^-1)*H*(H4^-1) change, the answer is gonna change. How to know what is the correct order

[shanemoyo]

okay, why is there a h transform to rotate the first revolute joint only. I see 3 R joints

[muhandez]

while im gratefull for hte tutorial the accent was hard to understand