Modern Robotics, Chapter 6: Inverse Kinematics of Open Chains

This video introduces the inverse kinematics problem--finding a set of joint positions that yield a desired end-effector configuration--as well as two ways of solving the problem: analytically and by an iterative numerical method.

This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.

[postnubilaphoebus]

I was hoping for a demonstration of the geometric solution. It sometimes can be confusing which angle is positive and which is negative.