Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design

© The Author(s), under exclusive license to APress Media, LLC, part of Springer Nature 2023

F. FrigeniIndustrial Robotics ControlMaker Innovations Serieshttps://doi.org/10.1007/978-1-4842-8989-1_4

4. Inverse Kinematics

Fabrizio Frigeni¹  

(1)

Shanghai, China

 

In the previous section, we derived the model for the forward kinematics: we calculated the TCP pose given the values of the joint axes. In this section, we solve the inverse problem: find the values of the joint axes given the position and orientation of TCP relative to the base frame (see Figure 4-1).

An illustration of the values of the joint axes X, Y, and Z from the T C P pose. The equation ...