TECHNOLOGIES / CONTROLLERS

Inverse and Forward Kinematics

Robotics is all about kinematics

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

Robot kinematic chains 1
Solutions
Analytic · Iterative
Degrees of freedom
6 DOF and fewer · 7 DOF and more
Robot configurations
Single arm · Multiple arms · Shared joints

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

Learn more from our blog

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
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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
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