Robot Inverse Kinematics

A robot can be described by two sets of variables: the variables describing the positions (e.g., angles) of various actuators, and variables describing the position of the end-point of the robot. The two variables can be linked by a system of equations describing the effect of the actuators on the robot endpoint. The problem of inverse kinematics is to compute, for a given end-point, the corresponding actuator values. For some end-points such actuator values exist, for other they do not. In the thesis, the student will implement and explore an algorithm that describes the set of end-points, for which such actuator values exists.