Inverse Kinematics

Inverse Kinematics

IK API

The inverse kinematics functions are the main feature of IKpy. Inverse Kinematics is provided by the following functions:

• Chain.inverse_kinematics
• Chain.inverse_kinematics_frame

The two functions share the same implementations, Chain.inverse_kinematics is a end-user function to the technical Chain.inverse_kinematics_frame

The inverse_kinematics function is easy to use. It takes a parameter for each target (position, orientation etc.). For example, to get the IK on a target position:

# Compute the inverse kinematics with position
ik = baxter_left_arm_chain.inverse_kinematics(
    target_position=[0.1, 0.5, -0.1],
)

This function supports more advanced functionalities with the orientation. For more information, see the dedicated section.

The inverse_kinematics_frame is a technical function used internally by the library, and used itself by inverse_kinematics. For the record, it takes a full target in homogeneous coordinates (which encompasses both position and orientation) It's useful to use with conjunction with forward_kinematics function, which already returns a homogeneous coordinates matrix.