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. Specify parameters for these constraints with the
Robot Constraints objects and pass them to
|Create aiming constraint for pointing at a target location|
|Create constraint on joint positions of robot model|
|Create constraint to keep body origin inside Cartesian bounds|
|Create constraint on relative orientation of body|
|Create constraint on relative pose of body|
|Create constraint on relative position of body|
|Inverse Kinematics||Compute joint configurations to achieve an end-effector pose|
Description of inverse kinematics solver algorithms and solver parameters
Calculate inverse kinematics for a simple 2-D manipulator.
This example shows how to solve inverse kinematics for a four-bar closed-chain linkage.
This example shows how to use generalized inverse kinematics to plan a joint-space trajectory for a robotic manipulator.
Model a delta robot using the a
rigidBodyTree robot model.
This example shows how to send commands to robotic manipulators in MATLAB®.