New Inferential Method and Efficient Solutions for Inverse Kinematics Equations of Robot MOTOMAN

Abstract

A new inferential method for inverse kinematics equation of MOTOMAN manipulators was presented, and efficient solutions of inverse kinematics problem were given. The method needn't change the coordinates of the manipulator end effector, and analytic solutions of the problem can be obtained. Additionally, a lot of multiplications of inverse matrices are avoided in the course of deduction. This method is very simple and useful, so it is suitable for control and simulation. Simulation verifies the correctness of computation.