osmansiddiquer / 2d-inverse-kinematic-animation

2D-Inverse-Kinematic-Animation

The result of some experimentation trying to calculate the angles for servo motors given the final x and y coordinates for a friend's project. The major constraint was that motors could not be placed at the arms. So both arms had to be moved using the motors at the base. This does not include the code for driving the motors. You will have to set up a serial server for that and modify the sendToSerial function in the sketch.js file to send the angles over the connection.

To run:

• Clone the repo
• Open index.html in your favorite browser
• Try pressing on the purple box to see the arm move and the angles change (theta_1 and theta_2 change).

Take a look at this Desmos graph to see what theta_1 and theta_2 indicate: https://www.desmos.com/calculator/6owvnwl81b

Preview:

https://osmansiddiquer.github.io/2D-Inverse-Kinematic-Animation/

The point N (see the Desmos graph) follows a straight path to the destination.