3 degree of freedom leg in cylindrical coordinate motion

3dof robot leg demonstration

Three complex inverse kinematics equations are being solved in real-time (every 20msec) for the 3 angular displacement servomechanisms. Just one Basic Stamp2SX microcomputer solves these equations with only 2kbytes of memory and uses only 16-bit integers, no trigonmetrical functions; instead only truncated Taylor series are used.