6 Axis Robot Forward & Inverse Kinematics Tutorial - Denavit Hartenberg Parameters With the AR4-MK2

[@brunobock372]

Really good content. It's hard to find material that explains it all so clearly and in a well illustrated manner

[@aleksandargurzan]

I may never use those download files...but you are bringing revolution...all respect for you Chris Annin

[@neil_goradia]

Thank you so much for making this video....in the process of building the AR4 MK2 right now....this video clears so much stuff up that i wouldnt have understood untill the 4th year of engineering....also the instructional guide for the AR4 is crazy detailed absolutely hats off to the time put in..

[@elijahperalta3652]

Thank you for taking the time to make this great explanation. Now I can show all my electrical engineering friends the math that makes the robot run

[@the_biggest_chungus7508]

Absolute Love and Respect for this Videos Chris! Thanks a lot! Makes understanding things a lot easier, since I'm a visual learner as well

[@electronige3444]

Thanks going through it step by step saves a lot of problems ,like that ATAN2 number ordering !!

[@pkturner25]

Fantastic explanation, thank you. Was good to share real world application of matrix maths to my son also.

[@Arthur-hf5mk]

That's a HUGE work ! Theory, practice and repeat, all we need to understand FK and IK. Thanksss

[@frederichominh3152]

Amazing content. Thank you so so much Chris! I am doing the inverse kinematics of "modified" xy 5-segment scara arm and I will rewatch this video many many times, for sure.

[@capistor1]

I was wondering when the transformation matrices from physics would become useful. Seems like the time has come. Thanks for the knowledge. Much appreciated sir!

[@MarinusMakesStuff]

Wow, thank you so much for this video. It's a great topic that I've always wondered about. In general I'm currently looking into inverse kinematics because I am designing a bot with mecanum wheels which can steer the car in literally any direction. I will be sure to watch this tomorrow morning.

[@aladinmovies]

Love your robot and understanding. Thank you

[@dobramila3365]

extremely straight forward! Well done ! excels are great help in visualization!

[@nevillecreativitymentor]

THANK YOU ... This is perfect for my older brain LOL Much appreciated 👍 CHEERS

[@SirRobinII]

I managed to pull myself together to learn this for my own mini robot. I was stuck for hours with the DH table because on alpha angle had the wrong sign. I used chat gpt to write parts of the code but I had to do it in small steps or it would give me rubbish results. Forward Kinematics is done up to inverse kinematics 😅

[@adamksiezyk9593]

Wundebare Grundlage in der Roboterarmautomation👍

[@mirajussalehin5523]

Exactly what I was looking for. Thank you for this video.

[@anninrobotics]

my pleasure, thank you!

[@mattanimation]

this is a great resource, thanks!

[@RoboCNCnl]

Super informative video ! thanks for sharing, and thanks for sharing your files an so on.. !

[@Consulting157]

This is a masterpiece

[@anninrobotics]

Thank you.

[@edgarcoria6329]

Thank you for sharing this knowledge! I really appreciate it

[@tayfuncelebi2982]

I think there is something wrong with AR4 Denavit table. (Minute:Second = 46:00)

[@XuanHoaofficial2106]

Thank you very much ❤❤❤

[@aaaaassqdvvh]

Thank you very much for your time!

[@xdxdxdunix]

Thank you sooooo much. I might finally be able to understand it!

[@anninrobotics]

happy to help. Thanks!

[@meteilkersari9373]

thank you for this video,

[@DCLXVIDS]

This is awesome! thank you! I was able to script this in python in half a day while I knew nothing of matrices before I watched this video. One thing I can't get my head around though. When calculating IK, aren't the α and Θ compensation values of J4,J5 and J6 from the DH table used at all?

[@heh3135]

Amazing content, understandable simple explanation big up from hungary to you sir

[@anninrobotics]

Thank you

[@rohanjyrm]

At 46:57, in the completed diagram, how does the Frame 3 obey the Right Hand Rule? I feel like the Y3 is facing the wrong way by RHR. Also, shoudn't X3 be pointing down to intersect Z2 to meet the 4th DH condition? Please advise.

[@chunskwok]

Looks like there are some errors in the dh table.

[@wildniscamper7276]

i remember that stuff from school... Denavit-Hartenberg-Transformation..and so on.. hard stuff but very useful! great video! awesome and outstanding work at all!!! btw at least 360° = 2pi

[@boluwarin]

Thank you so much for this video

[@7null]

Great detail - thanks. But how would I use this information with your AR4 since the software handles it?

[@anninrobotics]

This information isn't something you necessarily need to know to utilize a robot. As you mention robot controllers do those calcs for you. I simply wanted to make this video to help any students who want to understand the math or help others who want to build their own robot. I know I was frustrated when I first started studying robot kinematics, every book, paper and video I found on the topic explained it as if I should already understand it. I wanted to make a video to help people who were starting from the beginning and make the video I wish I had when I first starting trying to grasp the concepts.

[@7null]

Thanks for the explanation. I know nothing about robotics but this definitely helped me understand how the joints are related and the complexity of making a robot work.

[@anubisai]

Thanks, Chris!!

[@Abe8816]

thank you so much for this, I am trying to build a robotic 6 axis arm for 3d printing and cnc machining. I just cant find how to convert my 3d model into a 6 axis gcode file for the arm, if you can help me that would be awesome.

[@jeffereystephens2987]

You are the man!

[@anninrobotics]

@@jeffereystephens2987 thank you

[@SYNAPSEdwl]

Awesome. Thank you.

[@pablomosquerabarrero7981]

amigo esto es un tesoro

[@kpm25]

Thanks!

[@qinlin7766]

Hi Chris, thank you for your great video and project! Is the dynamic model and torque control available to the users?

[@anninrobotics]

Hello, all the software is free to download. I do sell the CAD models for $99 to help with development. Let me know if there is anything else I can help with.

[@SirRobinII]

Man now I regret not paying attention and making notes during math class when I tried doing game dev in uni. We did a lot of matrix calculations and other things that you could use for vectors in a game engine. The prof was very old school, no books or files, you only had the notes that you took during class.

[@JakeHall-i9d]

Hi Chris, Thanks for the great video. Just a quick question regarding the calculation for the J1 angle. In the if..then statement, in the first case if q44 == 0 it returns a result in radians (RADIANS(-90), whereas all of the other cases the result is in degrees. Just wondering if this is a mistake or just my lack of knowledge with this?

[@moshuchitu203]

Hello just in the process of calculating J2 and J3, shouldn't the denominator and nominator inside the theta B calculation be flipped? Altitude/base rather than base(adjacent)/Altitude? Also appreciate your insight on the elbow singularity part, overall great video!

[@moshuchitu203]

As I walk thru the video, I notice another inconsistency, between stick diagram on sheet 3 and DH table on sheet 1, for joint 6, which is just a pure translational offset from Joint 5 (considering joint 0 is the first joint) , both theta and alpha should be 180 degrees, instead of 0, as some of the cosine will be affecting the total result, e.g. -1 instead of 1. Also sign of X6 and Y6 should be flipped, cheers

[@moshuchitu203]

Also I think direction of Z3 is reverted, on spreadsheet3, as it was constructed by a LH Rule

[@alicel9510]

Thank you so much

[@SherriMSDRML-qm1pe]

Thank you thank you 🤖🤠☕🇮🇳🇱🇷

[@ken125y]

Have you considered posting this on Hacker News, Hackaday, and r/robotics?

[@synterr]

Is it possible to use quaternions to simplify IK calculations and avoid some "undefined/infinity" problems? It's strange for me, because in computer graphics for tons of 3D rotations, quaternions are extensively used behind. Also to avoid gimbal lock problems.

[@vusang171]

How do you determine the length of thr links in a robot arm?

[@sereibothsek9739]

Thank you . can you do it on matlab?

[@Saya1418.]

Chris I'm using mks gen l v1.0 controller board ,tmc 2209, need to know more about firmware configuration and custom robot (moveo)interface with the software ,and ros integration ❤

[@greendsnow]

Can I use moveit and ros2 with this robot arm?

[@anninrobotics]

Yes, if you look on the third party software tab at www.anninrobotics.com there is a repo for ROS2

[@moshuchitu203]

Hello what software you use to importing all the robots as xml files? is it roboDK thank you!

[@justinmathew130]

have any software version of AR4 for MacOs or iOs

[@yiyozarco]

erspectacular

[@Moveingout]

Thank for the tutorial I have a question. If I just change the DH parameters for the bigger or other types of robot. Is this calculation are suitable? eg. I would like to use the Yaskawa GP12 and I have change the dh parameter of Gp12 robot?

[@tomfoolery2913]

The assumptions made for the geometric inverse kinematics solution may not hold if the DH parameters change. If it is just values increasing it will be fine but a different joint configuration may not work

[@kpm25]

If I deal with something like Unity which has the normal z-axis as a y-axis would the easiest way to deal with the matrix transformations just be to treat the Unity y-axis as a z-axis etc??

[@vp.8181]

Sir can you please make a video, explaining the functions void driveMotorsJ and void driveMotorsL, i have tried getting it and using for my application .It would be of great help to learn motion planning algorithm in an easy way. Please do make a video on it .

[@nadunnilupulliyanawaduge6462]

Can you share the CAD model. not the STL 3D printable parts ?

[@zordak3874]

You need to buy those from his website

[@SAVOOF]

молодец, хоть и я плохо понимаю язык (сморю по субтитрам) всё круто! в Россию отправите?

[@TrigeminalNeuralgiaAI]

How can I learn this I want to start a business in this.

[@codewithemmaprime]

24 mins into the video and I already know why there are errors in my forward Kinematics matrix for my custom robot arm

[@thearmman]

What workbench are you using in freecad? Please email me.

[@waterjoe2024]

very pro

[@Yakroo108]

👍👍👍

[@Choscura]

this seems like the sort of channel that has exactly the technical capatcity to do excellent work, but that hasnt't figured out the video editing yet. you would greatly benefit from background music, you've done a good job on pulling focus onto good example footage as you talk, and it probably is worth having eg a powerpoint level of "a script" in terms of the high points of topics you want to cover, and you could even probably use a few individual sheet views of this to explain what you're working on, like an infographic and etc.

[@frederichominh3152]

"Background music", no, hell NO. The video is perfect as it is. If you want background music, turn on your OWN background music which most people don't want to hear.

[@Cyber_God8024-ben4]

I am not a genius I am just intelligent

[@TheMadManPlace]

Sorry Chris but this is way too much for my old brain.

[@anubisai]

It's not rocket science, its a couple terms you haven't heard before with simple math. Try a different approach to life. Maybe you will surprise yourself. If you can build this robot you sure as heck can understand FK/IK. Just change your attitude.

[@laurelwalthall8494]

Promo_SM

[@seda14us]

Thank You.