Inverse kinematics (IK) is the computational process of determining the joint angles or actuator lengths required to place a robot’s end-effector at a desired position and orientation in task space. Unlike forward kinematics, IK is typically under-determined or over-determined and requires iterative numerical solvers, analytical solutions, or Jacobian-based methods; it is a foundational component of motion planning, manipulation, and trajectory execution in robotic systems.
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Inverse Kinematics - Computing joint angles from desired end-effector pose