The Inverse Kinematics of Manipulators

  • Adam Morecki
  • Józef Knapczyk
Part of the International Centre for Mechanical Sciences book series (CISM, volume 402)


The objective of inverse kinematics task is to find all the possible sets of angular or linear displacements (configuration coordinates) in the joints that allow of the end-effector (gripper or tool) of the manipulator to assume a certain position and/or orientation. This is a fundamental problem in the programming and control of manipulator motion, when it is necessary to determine how particular configuration coordinates change in time, in order to have the end-effector perform a desired motion of [4.2, 4.6–4.17]. For instance, in the simplest positioning task, “take and place”, the initial and final position of the end-effector are given as the time it takes to cover the distance between those two positions. The inverse kinematics solution entails determining the values of the configuration coordinates corresponding to these positions.


Unit Vector Position Vector Robot Manipulator Inverse Kinematic Kinematic Chain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1999

Authors and Affiliations

  • Adam Morecki
    • 1
  • Józef Knapczyk
    • 2
  1. 1.Warsaw University of TechnologyPoland
  2. 2.Cracow University of TechnologyPoland

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