# 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.

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### Having trouble getting correct homogeneous transformation matrices for my robotic arm

I am working on a project to build and program a robotic arm. And, no, this is not a HW problem. I have watched a ton of tutorials on the HTM, but its still not fully clicking. The image shows my ...
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### Add control and planning trajectory to double pendulum [closed]

How do I control a double pendulum to get the end effector link to go in the trajectory shaped in a perfect circle? I have the equation of the circle to go in but I don't know how to get the double ...
177 views

### Arm path planning with obstacle avoidance in Unity

My application is not specifically in Robotics, but the problem that I'm trying to solve seems to have been studied primarily from the viewpoint of Robotics, so I am hoping to get an answer here. ...
203 views

### 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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### Real-time TCP position/pose control on a robotic arm such as YuMi: recommendation to calculate IK/Inverse Jacobian?

I plan to make a mouse or a gesture control robot like this video on YouTube : ABB Externally guided motion.  For a 6-axes robot, I could implement it by using ABB’s EGM (Externally Guided Motion) ...
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### Self-Motion Manifolds

In this paper by J. W. Burdick, the main result basically says that for a redundant manipulator, infinity solutions corresponding to one end-effector pose can be grouped into a finite set of smooth ...
612 views

### Inverse kinematic solution not giving the same forward kinematics answer

I'm working on an assignment where I need to derive IK for 5 DOF Youbot kuka robotic arm manipulatorofficial website. I'm using inverse kinematics decoupling and following a geometrical approach using ...
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### Calculate Transformation between two point sets - but with constrained Degrees of Freedom

How can I calculate the rigid-body transformation [R|t] between two 3d triangles, but restricted to a given N degrees of freedom (for N = 1..6) ? I know for N=6 I can get a least-squares solution via ...
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### Programming Forward and Inverse Kinematics of PUMA 560?

I am currently coding a Forward and Inverse Kinematics solver for a PUMA 560 robot. For the Inverse Kinematics part I am using the closed for solution given in this paper. But my issue is, my solution ...
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### How to use RL (Robotics Library) with Xcode?

I came across RL to program robotic manipulators. But according to the website, currently supported websites are Ubuntu and Windows only. Since Ubuntu and Mac OS are based on UNIX kernel, is it ...
686 views

### Inverse kinematics showing incorrect results for 4 dof robot in MATLAB using Robotics Toolbox

I'm doing inverse kinematics for 4 dof robot using robotics toolbox matlab. The code is given below: ...
284 views

### Combine individually working cartesian coordinates

I am trying to control a Dobot arm. The arm moves with angles whereas I need to work with cartesian coordinates. From inverse kinematics equations and polar coordinates I have implemented x,y and z ...
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### Extracting as many possible end configurations as possible

I am trying to implement a path planner to generate a path that moves the robot from q_start to q_goal. Q_goal is extracted from a stereo camera mounted on the tool, from which I extract x,y,z ...
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### Hand-eye calibration?

I am having an issue with some hand-eye calibration. So i am using a simple robot which at its tool point has an stereo camera mounted on it. I want to perform some visual serving/tracking based ...
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### underactuated robot problem

Lets say the robot has 4Dof and the operator gives (x,y,z,roll,pitch,yaw ) as control input( rank(J) < dim(task) ). Now the robot is overwhelmed and will probably show some jerky movement. But can ...
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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 ...
473 views

### Inverse Kinematics 5DOF - general approach - Wrong solution MATLAB

Can anyone name a good source for a general approach (cookbook-like) for the inverse kinematics regarding a 5-DOF? The paper by De Xu et al. is aiming for a general approach, but it doesn't work for ...
359 views

### Project ideas for Robot modeling

I am a 1st-year grad student majoring in robotics. I have the opportunity to select and execute my own projects for a course called Robot Modeling. For the project, I have decided to model a UR5 and ...
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### Facing problems in Mask vector in Robotics toolbox

I am working on a 7 DOF serial manipulator and was trying to use ikine to get the joint coordinates for simple 2 DOF robot. Even though I am using the masking vector as ...
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### Help !!Homogeneous transformation matrix

I came across many good books on robotics. In particular I am interested in Inverse kinematic of 6dof robot. All books have example which goes on like this "given homogeneous transformation matrix as ...
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### Inverse kinematics solutions pros and cons

I know at least 3 different solutions to inverse kinematics problem. They are pseudo inverse jacobian, cyclic coordinate descent and ANFIS networks. I would like to know their advantages and ...