How it works


Inverse Kinematics

Inverse kinematics was applied to determine the output angle of each servo for a desired position of the effector (xg,yg,zg). Each leg was solved individually. Cylindrical polar coordinates are used to take advantage of the circular symmetry. Each leg is projected into a 2D plane then basic geometry was used to determine the final servo output angle.

Joint Positions:
Cylindrical polar coordinates were used to take advantage of the circular symmetry present in the joint connections.

For:

Base:



Position of Base Joints:

Effector:



Position of Effector Joints:


(where Rg = xgEx + ygEy + zgEz is the desired position of the effector)
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