Inverse and Forward Kinematics

  • controllers

Robotics is all about kinematics

Intermodalics has been at the core development of the OROCOS Kinematics and Dynamics Library (KDL).

kinematic chain of a robot arm from base to flange to camera to TCP

We have expertise in:

Analytic solutions

  • Both computationally and manually generated solutions
  • Closed-form analytic solutions
  • 6 degrees of freedom (DOF) and less solvers

Iterative methods

  • 7 degrees of freedom or more solvers
  • Advice in choosing the best inverse kinematics solvers for your application
  • Customize inverse Jacobian methods, gradient projection method, heuristic method, etc.
  • Integrate complex constraints and behaviors in the null space

Multiple arms kinematics

  • Implementing IK solvers for arbitrary robot configurations with multiple arms
  • Support for overlapping (shared) joints such as torsos
  • Inverse kinematic solvers that satisfy multiple constraint functions such as stack of tasks and particle swarm optimization
  • Motion planning with underconstrained waypoints that iteratively run IK

Open Source Libraries

Learn more from our blog

16 January 2023

Understanding Kinematics: The Key to Controlling Your Robot

In this Part 2 article, we will be examining the different types of kinematic solutions available and how they can be used to control different kinds of robots. We will also show which popular software libraries are available for robotic applications.

  • kinematics
Read Understanding Kinematics: The Key to Controlling Your Robot

09 January 2023

Understanding Kinematics: What is Key to Know ?

Kinematics is the branch of mechanics that deals with the motion of objects. It is a necessary tool to control and move robots in a meaningful way. In this Part 1, we will be examining the different types of kinematic solutions available and how to choose the right solver for your robot.

  • kinematics
  • controls
Read Understanding Kinematics: What is Key to Know ?

30 November 2022

Designing a Mobile Robot for Indoor Transportation: Common Hardware and Software Challenges

Creating a mobile robot for indoor transportation can be a challenging task, especially when it comes to overcoming hardware and software issues. This guide will provide a high level overview of the various hardware and software challenges involved in creating a mobile robot, as well as the best solutions for overcoming them.

  • mobile-robotics
  • controls
  • kinematics
  • real-time
  • collisions
Read Designing a Mobile Robot for Indoor Transportation: Common Hardware and Software Challenges