Inverse Kinematics
Inverse kinematics (IK) answers the practical question every robot must solve: given a desired end-effector position and orientation, what joint angles achieve it? This lecture covers closed-form solutions for simple manipulators, the pseudoinverse approach using the Jacobian, and iterative numerical methods for general cases.
Special attention is given to the challenges of IK near singularities and the existence of multiple solutions — concepts that directly impact the trajectory planning students will tackle the following day.
- Kinematics
- Mathematics
Instructors
Tassos Natsakis
Associate Professor on Robotics · Automation Department, TUCN
Tassos Natsakis is an Associate Professor in the Automation Department at the Technical University of Cluj-Napoca (TUCN), where he leads research and teaching in robotics. His work spans robot modelling, kinematics, motion planning, and real-time control of robot manipulators. He is the lead organiser of this BIP and will coordinate the overall programme, deliver lectures on kinematics and path planning, and supervise the hands-on laboratory sessions throughout the physical week. He has recor... read more