In the previous section, we derived the model for the forward kinematics: we calculated the TCP pose given the values of the joint axes. In this section, we solve the inverse problem: find the values of the joint axes given the position and orientation of TCP relative to the base frame (see Figure 4-1).


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    Title :

    Inverse Kinematics


    Additional title:

    Mak. Innov. Ser.


    Contributors:


    Publication date :

    2022-12-28


    Size :

    30 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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