2. Forward and Inverse Kinematics: Key Concepts for Controlling Robotic Manipulators
2.1. Introduction
Forward and inverse kinematics are fundamental concepts in robotics. They are used to describe the relationship between a robot’s joint angles and the position of its end-effector, which is the part of the robot that interacts with its environment. Understanding these concepts is crucial for controlling robotic manipulators and achieving precise motion.
In this article, we will explain forward and inverse kinematics, discuss their importance in controlling robotic manipulators, and illustrate how to compute joint angles and end-effector positions using the forward_kinematics and inverse_kinematics functions in Python. Please refer to the 2R pick-and-place robot simulation on GitHub.