Now that we have a basic inverse kinematic model, the sky's the limit. Wait. The horsepower of a Raspberry Pi Model A is a pretty good limit. In this video, the eye vector is tracing out a circle, trying to hold 1 second per circle.

As you can see, it's not particulary smooth. Here is the co...

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Unfortunately for us, forward kinematics doesn't let our robot control itself. To determine the servo positions that achieve a robot position, we need inverse kinematics.

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The process of determining the state of the robot from the control inputs is the forward kinematics. For a given set of 4 servo positions, we should be able to predict the orientation of all parts of the robot.

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Let's make a desktop robot that moves. But wait, we have no tools.

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