Kinematic Analysis
Inverse kinematics is an example of the kinematic analysis of a constrained system of rigid bodies, or kinematic chain. The kinematics equations of a robot can be used to define the loop equations of a complex articulated system. These loop equations are non-linear constraints on the configuration parameters of the system. The independent parameters in these equations are known as the degrees of freedom of the system.
The IKFast open-source program can solve for the complete analytical solutions of most common robot manipulators and implement the solution in C++ code. The generated solvers cover most degenerate cases and can finish in microseconds on recent computers.
While analytical solutions to the inverse kinematics problem exist for a wide range of kinematic chains, computer modeling and animation tools often use Newton's method to solve the non-linear kinematics equations.
Other applications of inverse kinematic algorithms include interactive manipulation, animation control and collision avoidance.
Read more about this topic: Inverse Kinematics
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