Make: Robotic Arms

Before we write the code that will make all this

possible, we need to determine our inverse-

kinematics calculations. But first, we need to

develop a more mathematical way of describing

what’s going on with our robotic arm, just as we

did for our first one (Figures

6-1

and

6-2

).

In the image at bottom right, we’ve added a

coordinate system and given variables to the

lengths of the links of our robotic arm as well

as the angles of our actuators. We have also

added two theoretical lines. This is very similar

to the strategy we used to develop the inverse-

kinematics equations for our first robotic arm.

Here, the lines c and e will help us creat ...