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Back to the lesson libraryMECHANISM · 15 MIN
M30.4 CONNECT THE MECHANISM

Turn a desired pose into feasible movement

Tidy's arm can reach the same mug with its elbow up or down, and can't reach one 0.8 ft away at all. Work out both by hand, then grow a random tree around a shelf.

LESSON OVERVIEW15 min lesson

Lesson overview

Tidy's arm can reach the same mug with its elbow up or down, and can't reach one 0.8 ft away at all. Work out both by hand, then grow a random tree around a shelf.

What you’ll explore

  • Compute a two-link arm's gripper position from its joint angles and the joint angles for a target (both elbow solutions, or none), explain the Jacobian and configuration space, and choose between grid search and sampling-based planning.
GO TO THE SOURCE

Original explanations, connected to the research.

Modern Robotics — authors’ textbook and resourcesPlanning Algorithms — author’s book (LaValle, 2006)
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