Robotics: Inertia Tensor

by Matthew Barthe

Submitted : Spring 2011

Kinematics is the science of motion. In a multi-jointed robotic arm, given the angles of the joints, the kinematics equations give the location of the tip of the arm. Inverse kinematics refers to the reverse process. Given a desired location for the tip of the robotic arm, what should the angles of the joints be so as to locate the tip of the arm at the desired location? There is usually more than one solution and can at times be a difficult problem to solve.

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