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-effector cannot rotate around this vertical axis. The main objective of the robot is to make microcontroller programming available to the students and introduce the field of robotics at beginning level, which contains the solution technique of inverse kinematics
must be designed with careful consideration of the singularity points. As such, they must be monitored continuously to prevent damages. 3 Design of a measuring system The root cause of singularity can be traced back to inverse kinematics. However
filter, then knee and ankle joint angles were calculated in Opensim (SimTK v. 4.0.1.) software using inverse kinematics and a modified Helen–Hayes model. Joint angles were calculated for each step, but only five continuous steps were selected from both
