Kinematic Chain

Kinematic chains, representing the interconnected links and joints of robotic systems, are central to robotics research, with primary objectives focused on efficient and accurate motion planning and control. Current research emphasizes developing faster and more robust inverse kinematics (IK) solvers, often employing geometric decomposition, semidefinite programming, or neural networks to handle complex kinematic structures, including open and closed chains, and underactuated systems. These advancements are crucial for improving robot performance in diverse applications, such as human-robot collaboration, manipulation tasks, and the design of novel robotic mechanisms.