Robotics 2 U1 (Kinematics) S6 (Parallel Manipulators) P2 (Inverse Kinematics)

We've already learned about several aspects of inverse kinematics for serial manipulators: we learned how to use the 'graphical method' to find the inverse kinematics equations for position, and we learned how to use a spherical wrist to do inverse kinematics for end-effector orientation. In this video, we learn how to do inverse kinematics for parallel manipulators. Our general approach will be to draw in vectors for each part of the parallel manipulator, then use vector addition to find the vectors of the legs given a desired vector for the center of the platform. Robotics 2 is a college-level intermediate robotics class covering kinematics, motion control, machine vision, and artificial intelligence. For complete curriculum and to get the kit used in this class, go to www.robogrok.com