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Inverse Kinematics

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 Objective (revisited)
Goal: Given the structure of a
robot arm, compute

– Forward kinematics
kinematics: predicting
the pose of the end-effector, given
joint positions.

– Inverse kinematics: inferring

the joint positions necessary to
reach a desired end-effector pose.

We need to solve for configuration

from a transform between world
and endeffector frames.
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 to robot configuration
Forward kinematics
kinematics: many-to-one mapping of robot configuration to
reachable workspace endeffector poses

Global
(Frame w)

Find this, From these

Transform of endeffector
Base wrt. base
Endeffector
(Frame 0) (Frame 6)
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Inverse kinematics: one-to-many mapping of workspace endeffector pose
to robot configuration

Global
(Frame w)

From this, Find these

Transform of endeffector
Base wrt. base
Endeffector
(Frame 0) (Frame 6)
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Inverse kinematics: how to solve for q = {θ1, …,θN} from T0N?

Global
(Frame w)

From this, Find these

Transform of endeffector
Base wrt. base
Endeffector
(Frame 0) (Frame 6)
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 Let’s define IK
starting from FK

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Consider a planar 2-link arm as an example

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Consider a planar 2-link arm as an example

with 2 links with length 𝝰i, …

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Consider a planar 2-link arm as an example

with 2 links, 2 joints, …

UM EECS 398/598 - autorob.github.io

Consider a planar 2-link arm as an example

with 2 links, 2 joints, coordinate frames at

each body, and …
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Consider a planar 2-link arm as an example

Robot configuration
defined by DoF state q

2 angular DOFs
q = [𝜽1,𝜽2]
joint axes out
of plane
with 2 links, 2 joints, coordinate frames at
each body, and configuration over DoFs
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Consider a planar 2-link arm as an example

Do not forget
endeffector

Remember a robot has N joint frames

and N+1 link frames
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Consider a planar 2-link arm as an example Frame 2 is the “tool frame”

Robot endeffector is
the gripper pose in
world frame 2 Cartesian DOFs
o0N = p0 = (px0,py0)
Endeffector pose
has position
can consider
orientation Endeffector can be specified as
a point p2 (origin of tool frame)
Endeffector defines wrt. Frame 1
“tool frame” with
transform Endeffector transforms into p0
world frame in world frame

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Endeffector axes
“Sliding” axis

“Normal”
axis “Approach” axis
 Checkpoint: Transform
endeffector on link to world

endeffectorworld
endeffectorlink4

tool world
frame frame
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 Checkpoint: Transform
endeffector on link to world

endeffectorworld
endeffectorlink4

tool world
frame frame
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Forward kinematics: “given configuration, compute endeffector”

Robot configuration Robot endeffector

defined by DoF state is the gripper pose
in world frame
2 angular DOFs
2 Cartesian DOFs
q = [𝜽1,𝜽2]
o0N = p0 = (px0,py0)

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Forward kinematics: [o0N,R0N] = f(q) p0 = f(𝜽1,𝜽2)

Robot configuration Robot endeffector

defined by DoF state is the gripper pose
in world frame
2 angular DOFs
2 Cartesian DOFs
q = [𝜽1,𝜽2]
o0N = p0 = (px0,py0)

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Forward kinematics: [o0N,R0N] = f(q) What is the
position and
orientation of
the tool wrt.
the world?

remember:

What are the elements of this matrix? What are the elements of this vector?

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Forward kinematics: [o0N,R0N] = f(q) What is the
position and
remember: orientation of
the tool wrt.
the world?
p0 = R20p2 + d20
where
R20 = R10R21

d20 = R10d21 + d10

What are the elements of this vector?

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 Start with:
d20 = R10d21 + d10
substitute in variables then perform operations:

then substitute trig identities

to get:

What are the elements of this vector?

Forward kinematics: [o0N,R0N] = f(q)

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Forward kinematics: [o0N,R0N] = f(q)

p0 = f(𝜽1,𝜽2)

UM EECS 398/598 - autorob.github.io

Inverse kinematics: “given endeffector, compute configuration”

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(p0)

?
Just consider
endeffector
position for now
?

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 1DOF pendulum example
assume:
desired endeffector position 1DOF motor at pendulum axis,
(o0N) given as an x,y location motor servo moves arm to angle 𝜽1

𝜽1
what is 𝜽1?

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 1DOF pendulum example
assume:
desired endeffector position 1DOF motor at pendulum axis,
(o0N) given as an x,y location motor servo moves arm to angle 𝜽1

𝜽1
what is 𝜽1?

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(x,y)

desired endeffector position

(o0N) given as location x,y

let’s start by solving for 𝜽2

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(x,y)

solve for 𝜽2

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(x,y)

solve for 𝜽2
Law of Cosines

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(x,y)

solve for 𝜽2

solve for 𝜽1

Consider two triangles

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Inverse kinematics: q = f-1([o0N,R0N]) [𝜽1,𝜽2] = f-1(x,y)

solve for 𝜽2

solve for 𝜽1

UM EECS 398/598 - autorob.github.io

inverse kinematics: (𝜽1,𝜽2) = f-1(x,y)

is this the right

solution?

UM EECS 398/598 - autorob.github.io

when is there one
solution?

UM EECS 398/598 - autorob.github.io

when is there no
solution?

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when is there no
solution?

UM EECS 398/598 - autorob.github.io

Can we do IK for 3 links?

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Try this
http://scratch.mit.edu/projects/10607750/

UM EECS 398/598 - autorob.github.io

 How many solutions for this arm?

3
unknowns

Remember:
Ax=b
2
constraints

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Inverse Kinematics: 2D

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 Inverse Kinematics: 2D
Transform from
Configuration endeffector frame
to world frame

UM EECS 398/598 - autorob.github.io

 Inverse Kinematics: 2D
Transform from
Configuration endeffector frame
to world frame

Inverse orientation

Inverse position
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 Inverse Kinematics: 2D
Transform from
Configuration
endeffector

Closed form solution

UM EECS 398/598 - autorob.github.io

 Inverse Kinematics: 3D
Transform from
Configuration
endeffector

6 DOF position and

orientation of endeffector

UM EECS 398/598 - autorob.github.io

 Inverse Kinematics: 3D
Transform from
Configuration
endeffector

Closed form
solution?
6 DOF position and
orientation of endeffector
UM EECS 398/598 - autorob.github.io
 Stanford
Manipulator

assumes D-H frames

UM EECS 398/598 - autorob.github.io
Recognize this robot?
RexArm (EECS 467 / ROB 550)
RexArm (EECS 467 / ROB 550)

Find: configuration
q = [𝜽1 𝜽2 𝜽3 𝜽4]
as robot joint angles
 Given: Find: configuration
link lengths (L4,L3,L2,L1) q = [𝜽1 𝜽2 𝜽3 𝜽4]
as robot joint angles
endeffector orientation ɸ
as angle wrt. plane
centered at o3 and
parallel to ground plane

endeffector position [xg yg zg]

wrt. base frame
overhead view

solve for 𝜽1
 solve for 𝜽3
solve for 𝜽1

Decoupling: solve for 𝜽3

separate endeffector from
rest of the robot at last joint

and joint 1 from rest

of robot
 solve for 𝜽3
solve for 𝜽1

o3 𝜽3
L3

L2
𝜽2
solve for 𝜽3 Δz
Ψ
β

Δr o1
 solve for 𝜽3
solve for 𝜽1

o3 𝜽3
L3
solve for 𝜽3
(Law of cosines with
ɣ
supplementary angle ɣ)

L2
𝜽2
Δz
Ψ
β

Δr o1
 solve for 𝜽3
solve for 𝜽1

o3 𝜽3
L3
solve for 𝜽3

L2
𝜽2
solve for 𝜽2 Δz
Ψ
(Law of cosines with angle Ψ, β
arctan with angle β)
Δr o1
 solve for 𝜽3
solve for 𝜽1

o3 𝜽3
L3
solve for 𝜽3

L2
𝜽2
solve for 𝜽2 Δz
Ψ
β

Δr o1
two potential solutions
depending on elbow angle
 solve for 𝜽3
solve for 𝜽1

𝜽4 o3 𝜽3
solve for 𝜽3 ɸ L4

𝜽2
solve for 𝜽2

o1

solve for 𝜽4
 solve for 𝜽3
solve for 𝜽1

solve for 𝜽3

𝜽2
solve for 𝜽2
𝜽3

ɸ 𝜽4 o1

solve for 𝜽4
(Equilvalence relation for
adding angles from z0)
 solve for 𝜽3
solve for 𝜽1

𝜽4 o3 𝜽3
L3
solve for 𝜽3 ɸ L4
ɣ

L2
𝜽2
solve for 𝜽2 Δz
Ψ
β

Δr o1

solve for 𝜽4
(Addition of angles in arm
plane starting from z0)
 Why Closed Form?

• Advantages
• Speed: IK solution computed in constant time
• Predictability: consistency in selecting satisfying IK solution
• Disadvantage
• Generality: general form for arbitrary kinematics difficult to express
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Iterative Solutions
to IK
• Minimize error between current
Start
endeffector and its desired position

• Transform desired endeffector

velocity into configuration space

• Repeatedly step to convergence at

Goal
desired endeffector position
5-link planar arm

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 Next Class

• IK as an optimization problem

• Gradient descent optimization

• Manipulator Jacobian as the derivative of configuration

• Advanced: IK by Cyclic Coordinate Descent

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Inverse Kinematics:
Manipulator Jacobian

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