# Questions tagged [inverse-kinematics]

Inverse kinematics is a subtopic of kinematics dealing with equations that describe the joint parameters necessary to move a robotic arm to a particular position. Also called motion planning.

17 questions
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I and my friends are planning to build a dog like quadruped robot. We have designed it like MIT Cheetah Mini like legs structure, each leg having 3 Servos, 3rd DOF for rotation. We have calculated ...
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### Error in simmechanics matlab while doing inverse dynamics using custom joint

I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector. But it shows error as below. Error originates in Mechanical block rob33/...
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### Help in Computing Inverse Kinematics of a 5 DOF Robot Config

Its is a robot config with 5 DOF. We are provided 2 offsets d1 and d2. d1 and d2 are both 0.04 meter. It is confusing for me alittle bit. I am attending lectures online but I am having trouble ...
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### Inverse Kinematics “Can not converge” issue

I'm a complete beginner with LabView and I have been practicing forward kinematics with the help of a tutorial I found. It's been a learning curve but I've managed to understand a few things. However,...
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### 3D Inverse Kinematics Jacobian Construction

I am following this article: Overview of Jacobian IK From the link, an example says: O is a pose vector which represents the initial orientation of every joint And following this, it gives an ...
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### Humanoid Robot Arm

I have a modeling design for Humanoid robot arm in simscape-SimMechanics in Matlab, I am trying to use the inverse kinematic to make a reaching movement for the arm to the target position; however, I ...
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### Geometrical solution to an IK problem for a humanoid robot leg

On the attached figure, I show a graphical representation of the problem I am facing. I have developed a humanoid robot with a thigh which makes an angle with respect to the leg. It means that there ...
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### Create path with minimum curvature for Ackerman drive

I'm trying to create a trajectory between two given poses for an Ackerman drive. The poses are defined as follows: Current Pose position $(x_0, y_0)$ rotation on z-axis $\theta_0$ Final Pose ...
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### How do CAD programs solve for Inverse/Forward Kinematics problem in Assembly?

I am trying to solve for the Forward kinematics of a spatial parallel manipulator. Its loop closure (LC) equations are pretty long, and are being solved using numerical methods. As I am adding more ...
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### Path Planning for Spherical Wrist (RRR)

I have found the inverse kinematics of a spherical wrist. The wrist is not attached to any other type of arm, it is the sole controller. Based on this IK solution, how can I generate a path plan for ...
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### help to find the bug for calculating inverse kinematic using jacobian

I am calculating inverse kinematic for 5dof robotic arm using Jacobian matrix (first time). i used following formulas to do my calculation and also implemented in my code. for more information please ...
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### how to normalize PWM if the value exceeds the maximum speed limit

I have implemented inverse kinematics for nonholonomic mobile wheeled robots, and the RPM range of the motor that I used is -50 to 50, while for PWM is from 1300 to 1700. But in certain cases, the RPM ...
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### How to implement end effector orientation in generic IK solver

I am trying to script a basic, lightweight IK solver with a Jacobian Transpose method. I have gotten a basic script that reach the desired position very quickly. What I am not able to do is achieve a ...
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### python code for closed form inverse kinematics solution

I solved the inverse kinematics of a 4DOF robotic arm (which is not planar) and I wrote this code bellow in python. The coordinates for each joint is: I considered the first three joints as a wrist ...
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### Inverse kinematics for a robot lamp

I've been working on a robot lamp. Looking something like this: So i had a few questions. I've decided to simplify the movements by giving the head a fixed orientation like you see in the picture. ...