The Difference Between Forward Kinematics and Inverse Kinematics in Robotics

In robotics, forward kinematics and inverse kinematics are essential concepts that are used to calculate the positions and orientations of robotic manipulators.

Forward Kinematics:

Forward kinematics is the process of determining the end-effector position and orientation based on the individual joint angles of a robotic manipulator. It involves calculating the transformation matrix from the base of the robot to the end-effector using the Denavit-Hartenberg parameters and forward kinematics equations.

Inverse Kinematics:

Inverse kinematics, on the other hand, is the opposite process where the joint angles required to achieve a desired end-effector position and orientation are calculated. This involves solving a set of nonlinear equations to determine the joint configurations that will position the end-effector as desired.

Overall, forward kinematics is used to determine the end-effector position based on joint angles, while inverse kinematics is used to calculate the joint angles required to achieve a desired end-effector position.

Both forward kinematics and inverse kinematics are crucial for robotic control and motion planning, allowing robots to move accurately and efficiently in various applications.