Process

Inverse kinematics

You might say: IK

Inverse kinematics finds joint coordinates that produce a desired tool pose.

What it does

It turns a grasp or placement pose into joint commands.

Ask

Are there zero, one or many solutions, and which solution respects limits and avoids collisions?

Trouble

Targets can be unreachable, solutions can switch between branches, or an iterative solver can stop in a poor local solution.

Catalogue: Solver

• Analytic (closed form): An analytic solver uses geometry-specific formulas and can enumerate all solutions for that robot family.
• Numerical (iterative): A numerical solver iterates a velocity or Jacobian update from an initial guess; damping improves behavior near singularities.

Connections

• Made from: Jacobian and singularities

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 6 §§6.1–6.3The inverse kinematics problem is to determine the set of joint positions that achieves a desired end-effector configuration.

Use it on your project

teardown-apply: hold "Inverse kinematics" (inverse-kinematics) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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