16-311 Introduction to Robotics
         Main         Schedule         Homework         Labs         Links

  16-311 Lab 9: Inverse Kinematics

Lab 9: Inverse Kinematics


Challenge Statement

Move a robot arm around obstacles to bring an end effector from given start position to end position.

Lab Goals

  1. Construct an easily-controlable revolute-revolute arm.
  2. Use inverse kinematics principles to direct the position of the end effector of this arm.
  3. Motion-planning algorithms to move between two points avoiding obstacles.

Background

Principles

You may have to combat the following while developing your machines:

Lab Requirements

The specifications for Lab 9 are presented in the following document. This will be the most up-to-date resource for lab requirements.

Lab 9 Slides

Extensions

Last updated 04/22/2019 by Hannah Lyness
(c) 1999-2019: Howie Choset, Carnegie Mellon