Inverse Kinematics of Industrial Robots (solved Example) | Part 3 | Robotics 201

This is part 3 of solving the inverse kinematics of an industrial robot. The robot that we are doing the analysis on is ABB Robotics' IRB 120, which is a 6 DOF robot.

We are doing full-fledge inverse kinematics which is figuring out the joint angles to make the robot's end-effector go to a particular position with a certain orientation.

If you have any questions or confusion, comment below and I will reply back soon :)

✨ What we cover ✨
00:00 Quick Recap
01:28 Robot Wrist
03:32 Clever Solving Trick
08:15 Solving the simultaneous Eqs.
10:02 Figuring out wrist rotations
12:15 Solutions
13:24 Robot Animation

⏪ Watch Part 1:    • Inverse Kinematics of Industrial Robo...  
⏪ Watch Part 2:    • Inverse Kinematics of Industrial Robo...  

⏩ Watch the next video in this series:

❓ Do you find this tough?
If yes, I recommend watching the previous videos in this Robotics 201 playlist series first since each video builds on the last one:    • Robotics 201  

✨Want to refresh what a homogeneous transform is? Watch this video:    • Homogeneous Transformation Matrices |...  


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This video is part of the Robotics 201 tutorial series which covers kinematics and modeling of 3D robots.

This tutorial lesson series starts out from the very basics of robotics (assuming no prior knowledge) and gradually builds on in bite-sized videos of 10 minutes or less. By following along, you will soon become extremely good in the kinematics and modeling aspects of robots. And these will help you to design and build robots.

Here's what we will cover in this video series:
1. Co-ordinate Transformation for 3D robots
2. Homogeneous Transformations for 3D robots
3. Forward Kinematics
4. Inverse Kinematics
5. Robotic wrists (end-effector)
6. End-effector Velocities and Jacobians
7. Singularities of robots
8. Gimbal Locks
9. Forces & Torques

I will be uploading 1 video per week. If you find these helpful, don't forget to share and subscribe!
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👉If you haven't seen the Robotics 101 playlist first, I recommend you start there. It covers all of these concepts for 2D robots and this Robotics 201 playlist talks about the same concepts for 3D robots. Have a look here:    • Robotics 101  

Robotics 201 - Robotics full course for beginners - Kinematics and Modeling

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