Make: Robotic Arms

6-9

106 Make: Robotic Arms

Let’s break down the code we just sent over to our

Arduino. One of the first things you may notice is

that even though the end effector of our system

has reached the middle of the grid, we’ve used

new x and y values. In some of our previous

examples, we used the value 120 as both our x and

y coordinates. Though these values still represent

the center of our grid, all our inverse-kinematics

calculations use the motor shaft as the origin, so

our actual coordinates get shifted over slightly. With

this configuration, if we were to count the spaces

between the two shafts of our motors, we would

see that they are eight spaces, ...