Day 4: (Thu Sep 9, Week 2) Forward and Inverse Kinematics

Notes for 2021-09-09.

Agenda

1. Watch and discuss videos.

2. Discussion of forward and inverse kinematics.

Videos

• Sun Yuan and Peng Yu

• Michael Moschen

• Arthur Ganson

• Alexander Calder

• SCARA Robots

• Delta Robots

Supporting Material

• documentation of our Webots Two-Link Robot Model

• my Fall 2020 video lecture on Kinematics of the Two-Link Arm

• lecture notes on the derivation: Two Link Kinematics

• SymPy derivation of two-link inverse kinematics: two-link-kinematics.py

• sample Python code for two-link forward and inverse kinematics: two-link-ik.py