Article Title

Inverse Kinematics

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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.


This article was previously called Article 18.

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Fernando Burgos, Mathematics and Statistics

Mayur Palankar, Computer Science and Engineering

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Mayur Palankar