Inverse Kinematics

1. INVERSE
KINEMATICS
Hitesh Mohapatra
https://www.linkedin.com/in/hiteshmohapatra/

2. What is kinematics ?
● Kinematics studies the motion of bodies without
consideration of forces or moments that cause the motion.
● Robot kinematics refers the analytical study of the motion of a
robot manipulation.
● It is the study of multi-degree of freedom kinematic chains
that form the structure of robotic systems.
● Kinematic equations are used to map the joint parameters to
the configuration of robot systems
● The robot kinematics can be divided into forward kinematics
and inverse kinematics.

3. Forward Kinematics
Forward kinematics refers to the use of the kinematic equations of a robot
to compute the position of the end-effector from specified values for the
joint parameters.
Example : An articulated six DOF uses forward kinematics to position the
gripper

4. What is inverse kinematics ?
In robotics, inverse kinematics makes use of the kinematics equations to
determine the joint parameters that provide a desired position for each of
the robot's end-effectors.
Inverse kinematics is important to game programming and 3D animation,
where it is used to connect game characters physically to the world, such
as feet landing firmly on top of terrain.

5. Description :-
The conversion of the position and orientation of a manipulator end-
effector from cartesian space to joint space is called as inverse kinemaics
problem.

6. INVERSE KINEMATICS

7. INVERSE KINEMATICS

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9. INVERSE KINEMATICS

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12. INVERSE KINEMATICS

13. Difference Between FK and IK
Forward kinematics takes as input joint angles, and calculates the
Cartesian position and orientation of the end effector.
Inverse kinematics takes as input the Cartesian end effector position and
orientation, and calculates joint angles.Inverse kinematics is used for
trajectory planning.
In general, inverse kinematics is much more difficult than forward
kinematics.
Forward kinematics always has a closed-form solution; depending on the
arm, inverse kinematics often doesn't, and requires an iterative numerical
solution.

14. Difference between FK & IK
Also, inverse kinematics may not have a unique solution, if your
arm has more than six joints. If your arm has less than six joints
then there will be some Cartesian positions and orientations that it
cannot physically achieve, and the inverse kinematics for those
poses will not be well defined.

15. THANK YOU