Resources for Inverse Kinematics

Anyone know of any good resources for inverse kinematics? I am building a robotic arm if it helps.

Robot Modeling and Control is a pretty comprehensive book mostly about modeling and controlling robot arms, from basic forward and inverse kinematics, to path and trajectory planning in workspace or configuration space, even down to things like including the friction and inertial characteristics of your motors and geartrain in your control calculations.

I never found that level of detail necessary, but it’s a nice complete reference.


Cool, I’ll see if I can find that around. Any online resources?

Even thinking only about robot arms Inverse kinematics is a pretty huge topic. I haven’t seen any good general resources online, but you can probably find an inverse kinematic solution for your particular arm configuration.