Abstract
We saw that forward kinematics gives us the position (and orientation) of the gripper, when we have the joint angles. Inverse kinematics does the opposite, namely, we get the joint angles for reaching a given position. In this chapter, we will discuss inverse kinematics.
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Schweikard, A., Ernst, F. (2015). Robot Kinematics. In: Medical Robotics. Springer, Cham. https://doi.org/10.1007/978-3-319-22891-4_3
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DOI: https://doi.org/10.1007/978-3-319-22891-4_3
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