A numerical algorithm for solving robot inverse kinematics

Abstract

SUMMARY An extension of the inverse kinematics algorithm by Gupta and Kazerounian is presented. The robot kinematics is formulated by using the Zero Reference Position Method. Euler parameters and the related vector forms of the spatial rotation concatenation have been used to improve the efficiency of the velocity Jacobian computation. The joint rates are formally integrated by using a modified predictor-corrector method particularized to robot inverse kinematics – it is a strict descending, p (1) c (0 – n ), variable step algorithm. The definitions of the rotational error and overall error measure have been revised. Depending upon the convergence criteria used, these modifications reduce the overall computational time by 20%.