Make: Robotic Arms

125Chapter 6: Intermediate Inverse Kinematics

As our program calculates the location in x and y of

the outer point of our 36 triangles, as shown in the

diagram, we have our 36 sets of coordinate points we

need to feed into our inverse-kinematics calculations.

The rest of our program does exactly that. After all,

we know that our inverse-kinematics equations use

our desired (x, y) coordinates for our end effector

to calculate the angles we need to get there.

Through each loop, we determine the coordinates

of our new point on our circle, get the necessary

angles, and send those angles to our motors.

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