{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/ikbt-solving-closed-form-inverse-kinematics","title":"IKBT: solving closed-form Inverse Kinematics with Behavior Tree","arxiv_id":"1711.05412","date":"2017-11-15","proceeding":null,"authors":["Dianmu Zhang","Blake Hannaford"],"abstract":"Serial robot arms have complicated kinematic equations which must be solved\nto write effective arm planning and control software (the Inverse Kinematics\nProblem). Existing software packages for inverse kinematics often rely on\nnumerical methods which have significant shortcomings. Here we report a new\nsymbolic inverse kinematics solver which overcomes the limitations of numerical\nmethods, and the shortcomings of previous symbolic software packages. We\nintegrate Behavior Trees, an execution planning framework previously used for\ncontrolling intelligent robot behavior, to organize the equation solving\nprocess, and a modular architecture for each solution technique. The system\nsuccessfully solved, generated a LaTex report, and generated a Python code\ntemplate for 18 out of 19 example robots of 4-6 DOF. The system is readily\nextensible, maintainable, and multi-platform with few dependencies. The\ncomplete package is available with a Modified BSD license on Github.","url_abs":"http://arxiv.org/abs/1711.05412v3","url_pdf":"http://arxiv.org/pdf/1711.05412v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"ikbt-solving-closed-form-inverse-kinematics","repo_url":"https://github.com/uw-biorobotics/IKBT","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"NOASSERTION"}},{"paper_slug":"ikbt-solving-closed-form-inverse-kinematics","repo_url":"https://github.com/blake5634/Models_of_Robot_Manipulation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"form","task_name":"Form"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}