# 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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### How can the inverse kinematics problem be solved?

The forward kinematics of a robot arm can be solved easily. We can represent each joint using Denavit–Hartenberg transformation matrices. For example, if the $i^{th}$ joint is a linear actuator, it ...
620 views

### Evaluating the similarity of two 7 Degree of Freedom Arms

I am working on the Baxter robot where I have a first arm configuration and a bunch of other arm configurations, where I want to find the closest arm configuration to the first among the many other ...
2k views

### Inverse kinematic orientation problem

I am trying IK for 5-DOF robot all revolute joint. I am working IK with Jacobian inverse i.e end effector velocity = J inverse * error vector. In error vector I am feeding (x,y,z) positional error; ...
120 views

### Controlling the pose of a manipulator using inverse kinematics

I want to control a robotic manipulator in Cartesian space, using inverse kinematics. I know that I can do this using $\omega=J^{-1}v$, where $\omega$ is a vector of joint velocities, $J$ is the ...
709 views

### inverse kinematics for 6 jointed robots

I am a uncertain about how to compute the right homogeneous transformation matrix to compute an inverse kinematic Q-configuration. Looking at robot like this Where at the end of this robot I have ...
24k views

### Computing the Jacobian matrix for Inverse Kinematics

When computing the Jacobian matrix for solving an Inverse Kinematic analytically, I read from many places that I could use this formula to create each of the columns of a joint in the Jacobian matrix: ...
3k views

### Is there any C++ library I could use to program a robotic manipulator involving forward and inverse kinematics?

I came across robotics library (RL), but quite unclear about its real purpose. Is it a FK/IK solver library or simply an graphical simulator?. RL has poor documentation, so its not clear how to use it....
3k views

### Solving Inverse Kinematics with Gradient Descent

I am trying to implement my own inverse kinematics solver for a robot arm. My solution is a standard iterative one, where at each step, I compute the Jacobian and the pseudo-inverse Jacobian, then ...
7k views

### Jacobian method for inverse kinematics

I have big problem. I have to solve inverse kinematics for a manipulator with 6-DOF using jacobian method. From what I know to do that I need to have matrix of transformation and Denavit–Hartenberg ...
3k views

### With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
1k views

### Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to ...
859 views

### Robot arm reachability of a pose in Cartesian space

Given a set of robot joint angles (i.e. 7DoF) $\textbf{q} = [q_1, ... , q_n]$ one can calculate the resulting end-effector pose (denoted as $\textbf{x}_\text{EEF}$), using the foward kinematic map. ...
149 views

### IK - 3dof - iterative

I want to solve for a 3dof planar arm using gradient descent to approximate end position. Now I am a little confused about the formula and was wondering if someone can help me out. This is my thought ...
175 views

### constraining rotation in jacobian IK algorithm

i'm implementing a damped least squares IK algorithm for an articulated arm, based on the work here. I have the algorithm working well, but it occasionally produces solutions that have segments ...
35 views

### Formulas for calculating the passive joints angular velocities

We have the following parallel robot architecture: Positions of the vectors $u_i, v_i, w_i$, the angles $\theta_i$, angular velocity $\dot{\theta_i}$ and the Jacobian $J$, that mapping vector of ...
502 views

### Is the geometric inverse problem's solution "continuous" for a redundant robot?

Let's say my redundant robot is at an operationnal position $x$. Is the set of all possible joint configuration "continuous", which would mean that it is possible to explore all the possible ...
953 views

### Finding inverse kinematics algorithm for a specific manipulator

I need to find a way to solve invrese kinematics for Comau SMART-3 robot. Could you give me a few hints where to start looking? I have no idea about robotics and I couldn't find an algorithm for this ...
1k views

### Solving Inverse Kinematics with Non-Linear Least Squares

I want to write my own inverse kinematics solver, and I have been recommended to use Google's Ceres Solver to help. Now, according to the documentation, Ceres Solver is usually used for non-linear ...
3k views

### Derivative of a Jacobian matrix

I have an RRR planar robot: Its forward kinematics transform is:  {}^{0}T_3 = \\ \left[\begin{array}{cccc} \cos\!\left(\mathrm{\theta_1} + \mathrm{\theta_2} + \mathrm{\theta_3}\right) & - \sin\...
898 views

### 3-RRP manipulator robot

I'm having some issues with a planar manipulator I have to deal with. The first two moves are rotational and the third one is a prismatic one. The shoulder and elbow move around the X-axis, while the ...
167 views

### How to prioritize target position over target angle in Inverse Kinematics?

I have succesfully gotten my inverse kinematics method working using damped least squares and it has some really good results. My target position also includes a target angle for the end effector, ...
Let's say I have a robot consisting of a base $B$ and a manipulator $M$. The pose of the manipulator can be expressed as the transformation matrix $T_{BM}$. I also have a goal $G$ which I want to move ...