Chapter 11: Robot Control Systems – Inverse Kinematics and Forward Kinematics
Abstract: Forward kinematics calculates the position of an end effector, while inverse kinematics calculates the joint angles needed to achieve a desired position . Both are used in robotics and animation. Forward kinematics Uses joint parameters to calculate the position and orientation of an end effector A one-to-one mapping Can help evaluate the cost and feasibility of a path Inverse kinematics Uses the position and orientation of an end effector to calculate the joint parameters A many-to-one mapping Can help generate a path and control a robot Can be used to achieve more realistic character movements Applications Robotics : Used to move a tool along a path, manipulate objects, and observe scenes Animation : Used to create more efficient animations and complex interactions, such as characters grabbing objects Solution techniques Analytical methods, such as geometric and algebraic solutions Numerical methods 11.1 I...