Inverse kinematics
Inverse kinematics calculates joint values that can produce a desired endpoint position and orientation.
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In context
There may be one solution, multiple solutions, or no solution. Even a computable solution must satisfy joint limits and interference constraints.
Example
Just as a hand can sometimes stay at the same point with different elbow positions, a robot can achieve the same target with different arm configurations.
Key distinction
A target pose does not always define a unique joint configuration.
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