ABSTRACT
On the other hand, the inverse kinematics problem for robotic manipulators involves finding the vector of the joint displacements qi, i = 1, 2, ..., N, for n-axis robotic manipulators, given the kinematic attitude of the gripper with respect to the base coordinates. Normally, the latter is the most desirable problem to solve because it is at the heart of flexible automated manufacturing operations and assembly processes. On the other hand, the direct kinematic solutions are used for special applications such as direct trajectory planning or obstacle collision prevention algorithms.
