Robotics

This post shows how to install Isaac Lab 3.0 with Isaac Sim 6.0 on Ubuntu using uv, Python 3.12, and PyTorch with CUDA support.

FABRIK(A Fast Iterative Solver for the Inverse Kinematics Problem) is a heuristic, iterative inverse kinematics solver that avoids complex matrix operations and singularities, providing smooth motion and fast convergence for robotic chains.

Numerical inverse kinematics can iteratively solve for joint angles to reach a desired end-effector position using gradient descent with the Jacobian pseudo-inverse, suitable for planar manipulators and more complex robotic arms.

This post demonstrates how to compute the inverse kinematics of a 2-link planar robot arm using the Law of Cosines, providing a step-by-step guide for analytical solutions.

Denavit-Hartenberg (DH) parameters provide a systematic way to describe robot geometry, linking kinematics, joints, and links for practical robot modeling and control.

The core idea of transformation matrices is that a point represented in one coordinate frame (B) can be expressed in another frame (A) by combining rotation and translation into a single operator.