Oliver Cardwell/Project

Project

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Introduction

What is my project all about? Well for my honours project I am looking a the performance of iterative inverse kinematic algorithms. Yes there are a few big words in that title so I will break it down to a easier to understand description.

My project focuses on the movement of simple joint chains, such as a robotic arm.

Kinematics is a form of dynamics used on moving things that ignores the forces acting on those things. In short if we are using Kinematic equations then we are only using the position, velocity and acceleration. {Show simple kinematic equation} <math>f(x)=x^2+x+1</math>

Inverse Kinematics (IK) is a form of dynamics that deal