Inverse Kinematics

Manipulator inverse kinematics, kinematic constraints

Inverse kinematics (IK) determine joint configurations of a robot model to achieve a desired end-effect position. Robot kinematic constraints are specified in the rigidBodyTree robot model based on the transformation between joints. You can use generalized inverse kinematics (GIK) to solve for configurations that satisfy constraints, such as an aiming constraint for a camera arm or a Cartesian bounding box on a certain rigid body link. Specify parameters for these constraints with the GIK Robot Constraints objects and pass them to a generalizedInverseKinematics object.

For more information about inverse kinematics, see the What Is Inverse Kinematics? page.

Apps

Inverse Kinematics Designer

Design inverse kinematics solvers, configurations, and waypoints (Since R2022a)

Functions

expand all

Inverse Kinematics Solvers

`analyticalInverseKinematics`	Create analytical inverse kinematics solver (Since R2020b)
`inverseKinematics`	Create inverse kinematic solver
`generalizedInverseKinematics`	Create multiconstraint inverse kinematics solver

GIK Robot Constraints

`constraintAiming`	Create aiming constraint for pointing at a target location
`constraintJointBounds`	Create constraint on joint positions of robot model
`constraintCartesianBounds`	Create constraint to keep body origin inside Cartesian bounds
`constraintOrientationTarget`	Create constraint on relative orientation of body
`constraintPoseTarget`	Create constraint on relative pose of body
`constraintPositionTarget`	Create constraint on relative position of body
`constraintDistanceBounds`	Constrain body within distance bounds of reference body (Since R2022a)
`constraintRevoluteJoint`	Revolute joint constraint between bodies (Since R2022a)
`constraintPrismaticJoint`	Prismatic joint constraint between bodies (Since R2022a)
`constraintFixedJoint`	Fixed joint constraint between bodies (Since R2022a)

Blocks

Inverse Kinematics

Compute joint configurations to achieve an end-effector pose

Topics

Inverse Kinematics Algorithms
Description of inverse kinematics solver algorithms and solver parameters
Inverse Kinematics for Robots with Floating Base
Calculate inverse kinematics for floating-base systems such as manipulators in space. (Since R2024a)
Trajectory Control Modeling with Inverse Kinematics
Drive a manipulator along a specified trajectory using the Simulink^® Inverse Kinematics block.

Related Information

Robotic Manipulators (MathWorks Teaching Resources)

Featured Examples

2-D Path Tracing with Inverse Kinematics

Calculate inverse kinematics for a simple 2-D manipulator.

Open Script

Solve Inverse Kinematics for Closed Loop Linkages

Model closed-loop linkages like four-bar systems using constraints with an inverse kinematics solver.

Open Live Script

Plan a Reaching Trajectory with Multiple Kinematic Constraints

Plan a manipulator trajectory with constraints for a precise gripper approach using generalized inverse kinematics.

Open Live Script

Plan Manipulator Path for Dispensing Task Using Inverse Kinematics Designer

Design a collision-free manipulator path for adhesive dispensing using Inverse Kinematics Designer app.

Open Live Script