Inverse kinematics
- In French:
- Cinématique inverse
- Abbreviation:
- IK
Definition
Calculation of the joint positions that place a robot’s tool at a desired position and orientation. Unlike forward kinematics, the problem may have no solution, one, or several, and is solved either by an analytical formula or by an iterative numerical method. Libraries such as MoveIt provide these solvers as interchangeable modules.
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