Abstract
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.
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Jazar, R.N. (2010). Inverse Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-1750-8_6
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DOI: https://doi.org/10.1007/978-1-4419-1750-8_6
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