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Inverse Kinematics

Manipulator inverse kinematics, kinematic constraints

Inverse kinematics (IK) determine joint configurations of a robot model to achieve a desired end-effect position. Robot kinematic constraints are specified in the rigidBodyTree robot model based on the transformation between joints. You can use generalized inverse kinematics (GIK) to solve for configurations that satisfy constraints, such as an aiming constraint for a camera arm or a Cartesian bounding box on a certain rigid body link. Specify parameters for these constraints with the GIK Robot Constraints objects and pass them to a generalizedInverseKinematics object.

For more information about inverse kinematics, see the What Is Inverse Kinematics? page.

Apps

Inverse Kinematics Designer

Design inverse kinematics solvers, configurations, and waypoints (Since R2022a)

Functions

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Inverse Kinematics Solvers

`analyticalInverseKinematics`	Solve closed-form inverse kinematics (Since R2020b)
`inverseKinematics`	Create inverse kinematic solver
`generalizedInverseKinematics`	Create multiconstraint inverse kinematics solver

GIK Robot Constraints

`constraintAiming`	Create aiming constraint for pointing at a target location
`constraintJointBounds`	Create constraint on joint positions of robot model
`constraintCartesianBounds`	Create constraint to keep body origin inside Cartesian bounds
`constraintOrientationTarget`	Create constraint on relative orientation of body
`constraintPoseTarget`	Create constraint on relative pose of body
`constraintPositionTarget`	Create constraint on relative position of body
`constraintDistanceBounds`	Constrain body within distance bounds of reference body (Since R2022a)
`constraintRevoluteJoint`	Revolute joint constraint between bodies (Since R2022a)
`constraintPrismaticJoint`	Prismatic joint constraint between bodies (Since R2022a)
`constraintFixedJoint`	Fixed joint constraint between bodies (Since R2022a)

Blocks

Inverse Kinematics

Compute joint configurations to achieve an end-effector pose

Topics

Inverse Kinematics Algorithms
Description of inverse kinematics solver algorithms and solver parameters
Trajectory Control Modeling with Inverse Kinematics
This Simulink^® example demonstrates how the Inverse Kinematics block can drive a manipulator along a specified trajectory.

Featured Examples

2-D Path Tracing with Inverse Kinematics

Calculate inverse kinematics for a simple 2-D manipulator.

Open Script

Solve Inverse Kinematics for Closed Loop Linkages

Closed loop linkages are widely used in automobiles, construction and manufacturing machines, and in robot manipulation. Although you cannot directly model closed-loop linkages with the rigidBodyTree object in Robotics System Toolbox™, you can still study the kinematics of closed-loop systems by combining a rigid body tree with constraints that mimic loop-closing joints. The constraintRevoluteJoint, constraintPrismaticJoint, and constraintFixedJoint constraint objects enable you to model loop-closing revolute, prismatic, and fixed joints, respectively. To kinematically model closed-loop linkages, use the constraints with a generalizedInverseKinematics solver to constrain the solutions to act as desired.

Open Live Script

Plan a Reaching Trajectory With Multiple Kinematic Constraints

Use generalized inverse kinematics to plan a joint-space trajectory for a robotic manipulator. It combines multiple constraints to generate a trajectory that guides the gripper to a cup resting on a table. These constraints ensure that the gripper approaches the cup in a straight line and that the gripper remains at a safe distance from the table, without requiring the poses of the gripper to be determined in advance.

Open Live Script

Plan Manipulator Path for Dispensing Task Using Inverse Kinematics Designer

Design a robotic manipulator path for a dispensing task. A successful path consists of a sequence of collision-free waypoints that are designed and verified in the Inverse Kinematics Designer app. Create waypoints for an adhesive dispensing task, in which the robot picks up two adhesive strips, applies glue, and then applies the strips to a box.

Open Live Script