Why is inverse kinematics essential for controlling multi-joint robotic manipulators?

Example Concept: Inverse kinematics involves solving equations that relate the desired position and orientation of a robot's end effector to the joint angles. This is essential for tasks like pick-and-place operations, where the robot must accurately reach and manipulate objects. Algorithms such as Jacobian-based methods or optimization techniques are often used to compute these joint angles, considering constraints like joint limits and avoiding singularities.