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

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

Lab 9 Writeup

Extensions