nⅴ erse Kinematics Overview Problem description Known ee position and orientation find joint angles (inverse process) Direct Kinematics Problem(DKP)-> Solution unique Inverse Kinematics Problem(lkp)-> May have multiple solutions not al ways solvable(Kinematic Invertibility) Equations in IKP are usually highly nonlinear, analytically sol vable (closed form solution available)only for certain types of manipulators, examples PUMA(6R decoupled) Stanford Arm(5R-IP) Canadarm 2(7R with 3 parallel pitch joint axes) other types of manipulator rely on numerical methods for solutionInverse Kinematics • Overview - Problem description: Known EE position and orientation, find joint angles (inverse process) Direct KinematicsProblem(DKP) -> Solution unique Inverse Kinematics Problem(IKP) -> May have multiple solutions, not always solvable (Kinematic Invertibility) - Equations in IKP are usually highly nonlinear, analytically solvable (closed form solution available) only for certain types of manipulators, examples: PUMA (6R decoupled) Stanford Arm (5R-1P) Canadarm 2 (7R with 3 parallel pitch joint axes) other types of manipulator rely on numerical methods for solution