Inverse kinematics content: Inverse kinematics is the process of determining the parameters to be set for the joint movable object in order to achieve the required posture. For example, given a three-dimensional model of human body, how to set the angle of wrist and elbow to make the hand change from a relaxed posture to a waving posture?
This problem is very important in robotics, because the manipulator is controlled by the joint angle. Inverse kinematics is also very important in game programming and three-dimensional modeling, although its importance has decreased due to the increasing use of large databases of motion capture data.
Articulated objects consist of a set of rigid segments connected by joints. Changing the angle of joints can produce infinite shapes. The solution of the forward kinematics problem is the attitude of the object given these angles. The more difficult solution is to find the angle of the joint given the posture of the object, such as the position of the end effector.
Generally speaking, there is no analytical solution to the inverse kinematics problem. The inverse kinematics can be solved by nonlinear programming technique. Some special kinematic chains-kinematic chains with spherical wrists-allow motion decoupling. This allows us to handle the direction and position of the end effector independently and produce an effective closed-form solution.
Geometric basis of robotics;
Most textbooks cover topics such as robot kinematics, dynamics, control, perception and planning. The uniqueness of this book is that it introduces mathematical tools, especially geometric tools, used to solve robot problems. In particular, it introduces Lie groups and their related algebraic and geometric concepts in an easy-to-understand way for readers interested in robots.
The geometric basis of robotics is a wonderful introduction to geometric concepts that have important applications in robotics. The second edition gives an in-depth explanation of related fields, and still maintains a unique style: its focus is not on the calculation results of kinematics and robotics, but contains extremely important latest materials, which reflect the important progress in this field and link robotics with the mathematical basis in group theory and geometry.