What does inverse kinematics mean?
Working out which commands produce a wanted motion: rotate the wanted world velocity into the body frame using the heading, then scale each axis by its full speed to get the drive commands.
In a lesson
Forward kinematics is the model. Inverse kinematics is the useful one: I want to move like this; what do I send?
Learn it
- Taught in U2.5 Inverse kinematics Kinematics and frames, University
Used in
- U2.6 Go to a point
- U2.7 Project: a shape in the world
- U3.7 Project: the long lap
- U5.7 Project: park it
- U6.7 Project: navigate on the estimate
- U7.7 Project: the kidnapped robot
- U8.7 Project: map the mat
- U9.7 Project: plan a route and drive it
- U10.4 Pure pursuit
- U10.7 Project: drive the route
and 2 more lessons.
Do the lesson in the simulator