Make: Robotic Arms

103Chapter 6: Intermediate Inverse Kinematics

The final calculations need will depend whether the x value lies within the

boundaries of the length between our two motors, otherwise known as our D

value. Take a look at the diagram above (Figure

6-8

).

If x is less than 0:

If x is between 0 and d:

If x is greater than d:

With that, we have completed our final calculations. We now have everything

we need to determine the inverse kinematics of our four-link system. Now

that we know all our calculations, we can begin converting our inverse

kinematics equations into code.

In this example, our x

value is less than 0.

In this example, our x value is

between ...