Make: Robotic Arms

175Chapter 9: Inverse Kinematics for 3D Movement

Next, we need to determine our target coordinates for the end effector. Here,

we can choose whatever values we’d like, as the whole point of inverse-

kinematics equations is to be able to set a desired end-effector position and

calculate all the angle values needed to get there. You may notice we now

have three sets of target values: the x and y positions we’re already familiar

with, as well as a z value that dictates the height of our target position.

Once we have established these values, our next step is to create all the

variables that represent the results of our various calculations we’ll be ...