30 Apr 2010 Pi Robot   » (Master)

An Introduction to Robot Coordinate Frames

I finally had a chance to write up the math behind the Pi Robot arm tracking video. Keep in mind that I am only using the two shoulder joints in each arm--the elbow and wrist servos are fixed--so the inverse kinematics is fairly straightforward. Later on I'll have to deal with the other joints...

Here is the link to the write-up:



Latest blog entries     Older blog entries

Share this page