Inverse Kinematics of Robot Wrist (with solved example) | Robotics 201

In this video, we solve a numerical example of doing inverse kinematics of a robotic (spherical) wrist. The objective is to figure out the joint angles that will make the end-effector reach the desired orientation.

For the desired position, we will need to perform full-fledge inverse kinematics which we will be covering in the next video.

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

✨ What we covered ✨
00:00 Numerical Example
00:52 What do we need to find out?
01:15 Methodology to solve IK of Robot Wrist
02:23 Solving it numerically
03:42 Clever trick to obtain both solutions
05:27 Solving for joint angles
06:43 Inverse Kinematics Solutions & Robot Configuration

▶️ Next video in this series:    • 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 robotic wrist? Watch this video:    • What is a Robot Wrist? | Inverse Kine...  



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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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