Taming Robot Movement: Inverse & Impedance
Taming the Machine: Mastering Movement with Inverse Kinematics and Impedance Control The world of robotics is fascinating, but bringing these mechanical marvels to life requires precise control. Just like an orchestra conductor guides each instrument, we need strategies to dictate how robots move and interact with their environment. Enter inverse kinematics and impedance control, two powerful tools that give us the finesse to orchestrate robotic motion. Inverse Kinematics: Solving the Position Puzzle Imagine you want a robot arm to grasp a cup. Knowing the desired position of the cup's handle isn't enough. We need to figure out the angles each joint in the arm needs to achieve that precise grip. This is where inverse kinematics (IK) comes in. IK is...