Robotics

Inverse Kinematics

This is the harder problem of Forward Kinematics.

poses $\to$ joint positions

For a general n degree-of-freedom open chain with forward kinematics $T(\theta )$, $\theta \in {\mathbb{R}}^n$, the inverse kinematics problem can be stated as follows: given a homogeneous transform $X\in SE(3)$, find solutions $\theta$ that satisfy $T(\theta )=X$.

Writing your own IK solver seems like quite the hassle. Instead, one of the following:

• Kinematics and Dynamics Library
• MoveIt
• CuRobo (?)