Introduction to Robotics | IIT Madras - #12 Inverse Kinematics | Introduction to Robotics

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What you'll learn

This course includes

28.3 hours of video
Certificate of completion
Access on mobile and TV

Summary

Keywords

Inverse Kinematics NPTEL SWAYAM INTRODUCTION TO ROBOTICS Prof. T. Asokan Department of Engineering Design IIT Madras Prof. T. Asokan The inverse kinematics of manipulators Solvability Existence of solutions Uniqueness of solutions Solutions of the inverse kinematics problem closed form solutions

Full Transcript

Welcome to 'Introduction to Robotics' course ! In this lecture, we'll explore inverse kinematics - the problem of finding joint angles that achieve a desired end-effector position and orientation. We'll discuss the conditions for solvability, including workspace limitations and degrees of freedom, and explore algebraic and geometric approaches to solving the problem. We'll illustrate these concepts with practical examples. NPTEL Courses permit certifications that can be used for Course Credits in Indian Universities as per the UGC and AICTE notifications. To understand various certification options for this course, please visit https://nptel.ac.in/courses/107106090 #Robotics #InverseKinematics #Jointspace #Cartesianspace #RoboticManipulation #Redundantrobots