Inverse Kinematics

by Joel Sereno

Submitted : Fall 2010

Inverse Kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates this method with regards to a robotic hand and fingers and applies it to various situations while analyzing the results. Using the data and robot construction provided, a general equation for the end effector point was calculated and used to plot the region of space that it reaches. Analyzed from the data was the benefit of having both a prismatic joint and a variable angle in a robotic finger to better maximize its effective range in space. The results provide concrete analysis to back up the notion of having more movable parts, such as prismatic joints and changing angles to better maximize the efficiency of robotic movement.

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