Inverse Kinematics

Authors

Joel Sereno, University of South Florida

Publication Year

2010

Abstract

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 the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.

Erratum

This article was previously called Article 18.

Recommended Citation

Sereno, Joel (2010) "Inverse Kinematics," Undergraduate Journal of Mathematical Modeling: One + Two: Vol. 3: Iss. 1, Article 6.
DOI: http://dx.doi.org/10.5038/2326-3652.3.1.18
Available at: https://digitalcommons.usf.edu/ujmm/vol3/iss1/18

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