手法を比較

	逆運動学	製造・組立配慮設計
分野	製造工学	製造工学
系統	Process / pipeline	Process / pipeline
提唱年	1968	1994
提唱者	Pieper, D. L. et al.	Boothroyd, G., Dewhurst, P.
種類	Problem-solving method for robot control	Systematic approach to cost-effective product design
原典	Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson Education. ISBN: 0-13-123629-6	Boothroyd, G., Dewhurst, P., & Knight, W. A. (1994). Product Design for Manufacturing and Assembly (1st ed.). Marcel Dekker. ISBN: 0-8247-9157-6
別名	IK problem, Joint angle calculation, Pose-to-angles	DFMA, Design for manufacturability, DFA
関連	4	4
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.	Design for Manufacturing and Assembly (DFMA) is a systematic methodology for creating products that are inherently easier and less expensive to manufacture and assemble. Developed by Boothroyd, Dewhurst, and Knight, DFMA evaluates design choices based on their impact on production cost, quality, and speed, guiding designers toward solutions that balance performance, manufacturability, and economics.