![]() Numerical IK solvers are more general but require multiple steps to converge toward the solution to the non-linearity of the system, while analytic IK solvers are best suited for simple IK problems. Each joint angle is calculated iteratively using algorithms for optimization, such as gradient-based methods. ![]() In order to approximate a robot configuration that achieves specified goals and constraints for the robot, numerical solutions can be used. In general, they are classified into two methods, one that is analytically obtained (i.e., analytic solution) and the other that uses numerical calculation. In contrast to forward kinematics (FK), robots with multiple revolute joints generally have multiple solutions to inverse kinematics, and various methods have been proposed according to the purpose. The Jacobian matrix helps define a relationship between the robot’s joint parameters and the end-effector velocities. ![]() ![]() Once the robot’s joint angles are calculated using the inverse kinematics, a motion profile can be generated using the Jacobian matrix to move the end-effector from the initial to the target pose.
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