What are the joint variables for a given configuration of a robot? This is the inverse kinematic problem. The determination of the joint variables reduces to solving a set of nonlinear coupled algebraic equations. Although there is no standard and generally applicable method to solve the inverse kinematic problem, there are a few analytic and numerical methods to solve the problem. The main difficulty of inverse kinematic is the multiple solutions such as the one that is shown in Figure 6.1 for a planar 2R manipulator.
KeywordsInverse Kinematic Circular Path Joint Variable Forward Kinematic Equal Section
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