登录查看更多内容

What is the difference between forward and inverse kinematics in robot motion planning?

由人工智能和领英社区提供技术支持

If you are interested in robot motion planning, you might have heard of forward and inverse kinematics. These are two important concepts that help you control how a robot moves and reaches a desired position and orientation. In this article, you will learn what forward and inverse kinematics are, how they differ, and why they are useful for robot motion planning.

此文章中的业界达人

由社区从 3 条内容中精选。了解更多

Behnam Yazdankhoo

1 Forward kinematics

Forward kinematics is the process of computing the position and orientation of the end-effector of a robot, given the joint angles and link lengths. For example, if you have a robot arm with three joints and three links, you can use forward kinematics to find out where the tip of the arm is, based on the angles of each joint. Forward kinematics is useful for predicting the outcome of a robot motion, or for visualizing the robot configuration.

添加您的观点

Behnam Yazdankhoo
举报内容
Mathematically, we can write p = h(q), where p is the vector of the end effector position/orientation, q is the vector of joint angles, and h(.) is the forward kinematics function. Differentiating the above relation with respect to time yields dp/dt = J(q) * dq/dt, where J is the Jacobian matrix, which plays an important role in analyzing the robots' kinematics and dynamics.

已翻译

赞

2 Inverse kinematics

Inverse kinematics is the opposite of forward kinematics. It is the process of computing the joint angles and link lengths of a robot, given the position and orientation of the end-effector. For example, if you want to move a robot arm to a specific location and orientation, you can use inverse kinematics to find out what angles each joint should have. Inverse kinematics is useful for planning the motion of a robot, or for controlling the robot to achieve a desired goal.

添加您的观点

Behnam Yazdankhoo
举报内容
Considering the forward kinematics relation, we would have dq/dt = J^(-1)(q) * dp/dt for the inverse kinematics, where the inverse of the Jacobian matrix determines whether or not there exists a unique solution for the mentioned equation.

已翻译

赞

3 The difference

The main difference between forward and inverse kinematics is that forward kinematics is a one-to-one mapping, while inverse kinematics is a many-to-one mapping. This means that for a given set of joint angles and link lengths, there is only one possible position and orientation of the end-effector. However, for a given position and orientation of the end-effector, there may be multiple possible sets of joint angles and link lengths. For example, a robot arm can reach the same point with different elbow bends. This makes inverse kinematics more challenging and complex than forward kinematics.

添加您的观点

4 The challenges

One of the challenges of inverse kinematics is that it may not have a solution, or it may have multiple solutions. This depends on the geometry and constraints of the robot, as well as the desired position and orientation of the end-effector. For example, a robot arm may not be able to reach a point that is too far or too close, or it may have to avoid obstacles or singularities. To solve inverse kinematics, you need to use numerical methods, such as iterative algorithms or optimization techniques, that can handle these situations.

添加您的观点

Behnam Yazdankhoo
举报内容
One thing that should always be kept in mind is to avoid the angles which yield a singular or even nearly singular Jacobian matrix. This could be achieved by either physical constraints or proper control algorithms.

已翻译

赞

5 The applications

Both forward and inverse kinematics are essential for robot motion planning, which is the task of finding a feasible and optimal path for a robot to move from a start to a goal configuration. Forward kinematics can help you evaluate the cost and feasibility of a path, while inverse kinematics can help you generate the path and control the robot. Some applications of robot motion planning include industrial robot programming and simulation, autonomous navigation and manipulation, and human-robot interaction.

添加您的观点

6 The tools

If you want to learn more about forward and inverse kinematics, and how to implement them in practice, you can use some tools that are available for control engineering. For example, you can use MATLAB and Simulink to model and simulate robot kinematics and dynamics, and to design and test robot motion planning algorithms. You can also use ROS (Robot Operating System) to interface with real or simulated robots, and to use existing packages and libraries for robot kinematics and motion planning.

添加您的观点

7 Here’s what else to consider

This is a space to share examples, stories, or insights that don’t fit into any of the previous sections. What else would you like to add?

添加您的观点

Control Engineering

+ 关注

给文章评分

我们借助人工智能创建了此文章。您认为这篇文章怎么样？

很棒不太好

举报此文章

查看全部

What is the difference between forward and inverse kinematics in robot motion planning?

1

2

3

4

5

6

7

1 Forward kinematics

2 Inverse kinematics

3 The difference

4 The challenges

5 The applications

6 The tools

7 Here’s what else to consider

Control Engineering

给文章评分

感谢您的反馈

更多Control Engineering相关文章

更多相关阅读内容