Jacobian and inverse kinematics

This chapter will examine the relations between the articular coordinates of a parallel robot and the end-effector pose. The relation giving the articular coordinates for a given pose of the end-effector is called inverse kinematics. Relationships between generalized and articular velocities will then be established: hence jacobian and inverse jacobian matrices will be determined. We will show that inverse formulas are generally simple, while direct formulas are complex.