Ep 5: Inverse Kinematics



Tried summarizing the entire thing in the 3 points given below:-

  • Over the first few blogs, we got our heads around what we call, "Forward Kinematics". In inverse kinematics, as the name suggests, we reverse the process previously studied in forward kinematics. 

  • In Forward Kinematics, (considering the structure of the robotic arm we are currently working with) we'd been calculating the coordinates (the x, y, & z of the displacement vector) of the end defector from the homogeneous matrix of the end defector frame with respect to the base frame. 

  • In Inverse Kinematics, however, we are given the coordinates, the end defector needs to be in, and we are supposed to calculate the various parameters (theta and alpha for revolute joints, or r and d for prismatic joints)  required to reach that desired point.



Note: The above points have been summarized from my understanding. Always refer to official documentation to clear confusion, or comment them down below.


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