The process of determining the joint parameters (angles or displacements) required to place a robot’s end-effector at a desired position and orientation in Cartesian space. It maps from task space to joint space, inverting the forward kinematic function and resolving ambiguities such as multiple solutions, singularities, and joint-limit violations.
Semantic Classification
Content
OWL Restrictions
- hasInput some CartesianPose
- hasOutput some JointParameters