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O_IK

5R robot foot inverse kinematics involves calculating the joint angles needed to place a robot's foot in a desired position and orientation, which is a complex problem solved through various methods like analytical solutions, geometric approaches, and computational algorithms.

These methods often involve using the robot's kinematic model, such as the Denavit-Hartenberg (D-H) model, to derive a system of equations that can then be solved for the joint angles. Advanced techniques like screw theory or Gröbner bases are used to handle complex robot configurations and provide efficient, accurate, and singularity-free solutions.

https://github.com/rpiRobotics/ik-geo

https://alefram.github.io/posts/Basic-inverse-kinematics-in-Mujoco

https://github.com/petercorke/robotics-toolbox-python

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