Inverse manipulator kinematics
Dextrous workspace:
the volume of space that the robot end-effector can reach with all orientations
Reachable workspace:
the volume of space that the robot can reach in at least one orientation.
Multiple solutions:
- choose the closest one
- or consider collision when there is obstacle
Analytical Solution (Closed-Form)
Possible only when many alphas are 0 or 90 degrees.
Wrist-partition robot always has closed-form solution.
Has to be solved individually by each specific type of robot.
Numerical Solution
- Jacobian Pseudo Inverse: need to calculated inverse, sensitive to singularity, but convergent very fast
- Jacobian Transpose: robust around singularity, but need way more iterations to convergent