Make: Robotic Arms

172 Make: Robotic Arms

WHAT ARE WE BUILDING?

Now that we have understand and have gathered all the equations we need

to calculate the inverse kinematics of our system, it’s time to turn these

equations into code so we can use them to control our robot. This first

example will be the basic code we need to perform the calculations.

STEP 1: CONVERTING OUR INVERSEKINEMATICS EQUATIONS

INTO CODE

double linkOne = 48.0;

double linkTwo = 120.0;

double linkThree = 100.0;

double x = 120.0;

double y = 120.0;

double z = 120.0;

double c;

double d;

double Zoffset;

double theta;

double alphaOne;

double alphaTwo;

double alphaFinal;

double beta;

void setup ...