Glossary · Control
Inverse kinematics
Also known as: IK
In brief
Inverse kinematics (IK) finds joint positions that place a robot end-effector at a desired pose. Instead of asking where a hand will land after specific joint angles, IK starts with the target hand pose and solves for joint angles. A solver may return no solution when the target cannot be reached within its constraints.
Forward kinematics calculates a link or end-effector pose from the robot's joint positions. Inverse kinematics reverses the question: given a desired pose, which joint positions could produce it? MoveIt documents both operations and shows an IK solver using an end-effector pose as its target.
For a humanoid, reaching toward a handle or positioning a foot can require a chain of joints to coordinate. IK is one part of that calculation; a motion planner and controller must still account for obstacles, joint limits, balance, and the physical execution of the movement.
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