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Inverse Kinematics Part 2: Finding θ1 and Programming the Robot
Inverse Kinematics Part 2: Finding θ1 and Programming the Robot
How does the complete IK sequence — reachability check, θ₂, then θ₁ — get a robot to reach an exact target?
Learning Intentions:
Calculate θ₁ using the elbow-adjusted formula, program both joint angles, and verify that the tip reaches the target position.
Today's Concept:
You have θ₂. Now find θ₁, program both angles, and watch the arm move to the target.
The θ₁ formula has two parts: the direction to the target from the base (tan⁻¹(y/x)), minus an adjustment for the elbow offset. Without that second term, the base joint would aim at the target as if the arm were a single straight rod. The elbow offset corrects for the fact that the second segment bends away from the straight line. Program both angles. Does the tip reach the target? If it misses, you have real data about where the error is.
Station 1
Station 1
Explore It – Finding θ1
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