Book Chapter: Chapter 6

Inverse Kinematics

Chapter 6 Autoplay

Autoplay of the YouTube playlist for all videos in this chapter.  This description box will not be updated with information about each video as the videos advance.

Inverse Kinematics of Open Chains

This video introduces the inverse kinematics problem–finding a set of joint positions that yield a desired end-effector configuration–as well as two ways of solving the problem: analytically and by an iterative numerical method.

6.2. Numerical Inverse Kinematics (Part 1 of 2)

This video introduces the Newton-Raphson root-finding method for numerical inverse kinematics. The end-effector configuration is represented by a minimum set of coordinates. Representation of the end-effector configuration as a transformation matrix is covered in the next video.