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).
Inverse Kinematics
Mak. Innov. Ser.
2022-12-28
30 pages
Article/Chapter (Book)
Electronic Resource
English
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