# Inverse Kinematics

This is the harder problem of Forward Kinematics.

poses $→$ joint positions

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