Stage 06 · 6DOF Robotic Arm · Chapter 8 · 80 min

Inverse Kinematics Intro

Accessible geometric IK for a planar 2–3 link arm, then notes on extending toward 6DOF pose.

• Contrast forward vs inverse kinematics conceptually

• Solve a 2-link planar arm with law of cosines

• Understand workspace and unreachable targets

• See how orientation joints finish a 6DOF pose

• Previous: Firmware Basics (Servo Control)
• Next: Calibration & Testing
• Global Bill of Materials