Inverse Kinematics of Industrial Robots | Robotics 201

In this video, we are laying the foundation for how to perform inverse kinematics on an industrial robot. The robot that we are doing the analysis on is ABB Robotics' IRB 120, which is a 6 DOF robot.

This is us 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 Introduction
00:20 What are the degrees of freedom of a robot?
00:40 Understanding IRB 120 robot
02:00 Revision: Inverse Kinematics
03:19 Question
04:50 Marking the reference frames
05:35 Joint ranges
05:53 Steps to do Inverse Kinematics

▶️ Next part 2:    • Inverse Kinematics of Industrial Robo...  

❓ Do you have trouble understanding or find this concept difficult?
I recommend watching the previous videos in this robotics 201 playlist series since each video builds on the last one:    • Robotics 201  

✨Want to refresh what is a homogeneous transform? 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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