Make: Robotic Arms

50 Make: Robotic Arms

Let’s start by imagining a theoretical robotic

arm made with just one link (Figure

3-3

). We’ll

then move on to two-link robots and develop

the mathematical model for our entire robotic

arm. If we were to graph the line that represents

a robotic arm with only one link, it would look

something like the image below.

What’s neat about looking at our mathematical

model from this perspective is, what we have here

is a triangle. This first representation of link one

is a line segment with a coordinate point, but let’s

rearrange our diagram once more, converting the

first link of our robot into a triangle.

The biggest difference ...