Inverse Kinematics

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7 Terms

1
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<p>Inverse Kinematics answers the question: </p>

Inverse Kinematics answers the question:

Where should the joints be?

2
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<p>What is correct for serial robots?</p>

What is correct for serial robots?

Inverse Kinematics is derived from Forward Kinematics

3
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<p>A typical step to simplify the solution of the Inverse Kinematics is:</p>

A typical step to simplify the solution of the Inverse Kinematics is:

Remove the Tool from the Wrist

4
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<p>Even if an algebraic solution is found for the Inverse Kinematics, it may be invalid because</p>

Even if an algebraic solution is found for the Inverse Kinematics, it may be invalid because

It is beyond the joints mechanical limits

5
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Regarding Inverse Kinematics, is a closed-form solution faster to compute than iterative methods?

Yes

6
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What is not a typical characteristic of Numerical Iterative methods?

They require a local minimum

7
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If many Inverse Kinematics solutions exist, one must be chosen. What is relevant?

Avoid collisions, minimize the energy used during motion, minimize the time needed to complete the motion