Inverse Kinematics

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Previous: 'Error-based Drawing Algorithms'

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2:05Blackboard: Kinematics

2:05Blackboard: Kinematics

2:05Blackboard: Kinematics

7:54Blackboard: Degree of Freedom

7:54Blackboard: Degree of Freedom

7:54Blackboard: Degree of Freedom

13:04Blackboard: Summary of Kinematics

13:04Blackboard: Summary of Kinematics

13:04Blackboard: Summary of Kinematics

13:48Blackboard: End Effector

13:48Blackboard: End Effector

13:48Blackboard: End Effector

15:03Blackboard: Inverse Kinematics

15:03Blackboard: Inverse Kinematics

15:03Blackboard: Inverse Kinematics

19:41"I.K. is a nasty, nasty, nasty problem"

^{α}19:41"I.K. is a nasty, nasty, nasty problem"

^{α}19:41"I.K. is a nasty, nasty, nasty problem"

^{α}21:10Blackboard: Inverse trigonometry is always harder than trigonometry

21:10Blackboard: Inverse trigonometry is always harder than trigonometry

21:10Blackboard: Inverse trigonometry is always harder than trigonometry

24:36Blackboard: Typically underdetermined and, if not, it's discontinuous

24:36Blackboard: Typically underdetermined and, if not, it's discontinuous

24:36Blackboard: Typically underdetermined and, if not, it's discontinuous

32:37Blackboard: Possible techniques for solving an underdetermined system

32:37Blackboard: Possible techniques for solving an underdetermined system

32:37Blackboard: Possible techniques for solving an underdetermined system

35:08Blackboard: Discontinuousness

35:08Blackboard: Discontinuousness

35:08Blackboard: Discontinuousness

36:50Blackboard: There are usually joint limits

36:50Blackboard: There are usually joint limits

36:50Blackboard: There are usually joint limits

38:40Blackboard: Operations research

38:40Blackboard: Operations research

38:40Blackboard: Operations research

40:19Blackboard: Linear complementarity solver [see Resources]

40:19Blackboard: Linear complementarity solver [see Resources]

40:19Blackboard: Linear complementarity solver [see Resources]

43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems

43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems

43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems

50:24Blackboard: Cyclic coordinate descent

50:24Blackboard: Cyclic coordinate descent

50:24Blackboard: Cyclic coordinate descent

52:52Close it down

52:52Close it down

52:52Close it down

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Next: 'Partial Specialization'

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