As head of the arm sub-team of Cornell Mars Rover my senior year, I led the redesign of the arm to utilize a differential wrist instead of two independent motors at the wrist region. This not only reduced the mass of the overall system and improved the torque capabilities in both directions, but it also greatly simplified the operation of the arm, reducing the time required to complete dexterous tasks. In this new system, a new inverse kinematics algorithm was necessary in order to control the arm accurately. I designed this algorithm to utilize Jacobian matrices because a closed-form solution was not sufficient for controlling all six degrees of freedom of the arm. This algorithm was tested both in simulation and in actual operation, as can be seen here.