© The Author(s), under exclusive license to APress Media, LLC, part of Springer Nature 2023
F. FrigeniIndustrial Robotics ControlMaker Innovations Serieshttps://doi.org/10.1007/978-1-4842-8989-1_4

4. Inverse Kinematics

Fabrizio Frigeni1  
Shanghai, China
In the previous section, we derived the model for the forward kinematics: we calculated the TCP pose given the values of the joint axes. In this section, we solve the inverse problem: find the values of the joint axes given the position and orientation of TCP relative to the base frame (see Figure 4-1).

An illustration of the values of the joint axes X, Y, and Z from the T C P pose. The equation ...

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