Inverse Kinematics

  • Reza N. Jazar


Determination of joint variables in terms of the end-effector position and orientation is called inverse kinematics. Mathematically, inverse kinematics is searching for the elements of vector q when a transformation is given as a function of the joint variables q1, q2, q3, ...
$$ {}^0T_n = {}^0T_1 (q_1 ){}^1T_2 (q_2 ){}^2T_3 (q_3 ){}^3T_4 (q_4 ) \cdots {}^{n - 1}T_n (q_n ) $$


Inverse Kinematic Revolute Joint Joint Variable Forward Kinematic Dual Quaternion 
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© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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