Most, if not all, of the applications I have in mind for the robot arm require the bot to be able to move its effector/toolhead to precise Cartesian coordinates in 3D space (x,y,z). Tasks like 3D printing, CNC milling and plotting all revolve around the use of standard G-code, which is generally in Cartesian coordinates.
However, the robot is made up of arm segments and rotating motors, who only know their angle of rotation. Therefore I need to come up with some equations that allow the bot to convert arbitrary [x,y,z] Cartesian coordinates into a series of angles that describe the "pose" that the bot must get to.
Inverse kinematic equations allow the bot to convert [X,Y,Z] Cartesian coordinates into motor angles.
Forward kinematic equations allow the bot to convert motor angles into [X,Y,Z] coordinates. Less useful, I think, but may be good for testing.
Most, if not all, of the applications I have in mind for the robot arm require the bot to be able to move its effector/toolhead to precise Cartesian coordinates in 3D space (x,y,z). Tasks like 3D printing, CNC milling and plotting all revolve around the use of standard G-code, which is generally in Cartesian coordinates.
However, the robot is made up of arm segments and rotating motors, who only know their angle of rotation. Therefore I need to come up with some equations that allow the bot to convert arbitrary [x,y,z] Cartesian coordinates into a series of angles that describe the "pose" that the bot must get to.