Inverse kinematics (IK) is used to determine joint configurations of a robot
model to achieve a desired end-effect position. Robot kinematic constraints are
specified in the rigidBodyTree robot model based
on the transformation between joints. You can also specify external constraints,
like an aiming constraint for a camera arm or a Cartesian bounding box on a
certain rigid body link. Use the robot constraint objects and the generalizedInverseKinematics
object.
| Inverse Kinematics | Compute joint configurations to achieve an end-effector pose |
Description of inverse kinematics solver algorithms and solver parameters
2-D Path Tracing With Inverse Kinematics
Calculate inverse kinematics for a simple 2-D manipulator.
Solve Inverse Kinematics for a Four-Bar Linkage
This example shows how to solve inverse kinematics for a four-bar linkage, a simple planar closed-chain linkage.
Plan a Reaching Trajectory With Multiple Kinematic Constraints
This example shows how to use generalized inverse kinematics to plan a joint-space trajectory for a robotic manipulator.
Position A Delta Robot Using Generalized Inverse Kinematics
Model a delta robot using the a rigidBodyTree robot model.
Control PR2 Arm Movements Using ROS Actions and Inverse Kinematics
This example shows how to send commands to robotic manipulators in MATLAB®.