![]() Finally, we will conclude the chapter with some coding and simulation. ![]() To solve the inverse orientation problem, we use the Euler angle parameterization. Further on, we describe the principle of kinematic decoupling and how it helps simplify our solution by splitting a higher DoF robotic manipulator into simplified inverse orientation and inverse position problems. We will also discuss the numerical iterative method to solve a higher degree-of-freedom (DoF) inverse kinematic problem. After which we observe various methods used to solve IK, we explore the analytical approaches to solve the inverse position problem specifically, we will investigate the geometric and algebraic techniques. In this chapter, we begin by understanding the general IK problem. Inverse kinematics (IK) is a method of solving the joint variables when the end-effector position and orientation (relative to the base frame) of a serial chain manipulator and all the geometric link parameters are known. ![]() References Introduction to Inverse Kinematics ![]() Example – 6 DoF Robot Manipulator (Continued) ![]()
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