  We show how to compute globally optimal solutions to inverse kinematics (IK)
by formulating the problem as an indefinite quadratically constrained quadratic
program. Our approach makes it feasible to solve IK instances of generic
redundant manipulators. We demonstrate the performance on randomly generated
designs and on real-world robots with up to ten revolute joints. The same
technique can be used for manipulator design by introducing kinematic
parameters as variables.
