Make: Volume 93

system and given variables to the lengths of the

links of our robotic arm as well as the angles of

our actuators, the servomotors.

We have also added two theoretical lines.

Here, the lines c and e will help us create some

triangles within our existing variables that will

make our final calculations much easier down

the road. Another benefit of creating these two

theoretical lines is the ability to create sub-

angles. With this current setup, we have two sub-

variables for each of our main variables.

Again, our goals for developing the inverse

kinematics equations for our four-link system are

to have the ability to provide our desired x and y