Calculate Inverse Kinematics
本文主要参考mathworks的文章(https://www.mathworks.com/discovery/inverse-kinematics.html)
Robot kinematics (Kinematics is the study of motion without considering the cause of the motion, such as forces and torques.) involves deriving equations to describe an analytical relationship between the robot’s joint parameters and the end-effector. There are 2 ways to derive the equations of motion:
- Forward kinematics. Given the joint angle values, forward kinematics equations calculate the robot’s end-effector location in the coordinate space.
- Inverse kinematics. Given the robot’s end-effector location, inverse kinematics equations calculate the joint angles required to move the end-effector to that location.
Implementation
Methods
- Analytical solution(in closed form)
- Numerical solution((in iterative form)
3-linked planar joints
