Inverse Kinematics
Inverse Kinematics
Embedded Files
Designed a RR arm robot to move to a specified point while avoiding obstacles
Mechanical Design
Mechanical Design
Used a decoupling mechanism to allow for a 1-1 gear ratio between the pivot point and the second revolute joint, which forced the joint to turn the same amount as the pivot point, which allowed for easier control
Used a rubber band to counteract backlash and gear slop
IMG_0652.MOVSoftware
Software
Used a-star pathfinding with a bloated configuration space to find a path between two points
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