手法を比較

	逆運動学	CNC工具経路生成
分野	製造工学	製造工学
系統	Process / pipeline	Process / pipeline
提唱年	1968	1990s
提唱者	Pieper, D. L. et al.	Elbestawi, M. A. et al.
種類	Problem-solving method for robot control	Computational method for manufacturing automation
原典	Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson Education. ISBN: 0-13-123629-6	Elbestawi, M. A., Papazafiriou, T., & Du, R. (1994). In-process detection of tool wear in milling using cutting force signature. International Journal of Machine Tools and Manufacture, 34(4), 555-566.
別名	IK problem, Joint angle calculation, Pose-to-angles	NC tool path planning, Toolpath programming
関連	4	5
概要	Inverse kinematics is the computational problem of determining the joint angles required to position and orient the end-effector (tool) of an articulated mechanism at a desired pose (position and orientation). In contrast to forward kinematics, which computes end-effector position from joint angles, inverse kinematics solves the reverse mapping. This is essential for robot control: given a desired target location, IK finds the joint commands that achieve it.	CNC tool path generation is the computational process of determining the precise sequence and trajectory of tool movements required to machine a workpiece on computer numerical control (CNC) machines. Developed from the intersection of numerical control automation and computational geometry in the 1990s, this method translates CAD designs into executable machine instructions, enabling efficient and accurate manufacturing of complex parts.