A solution to the inverse kinematics of redundant manipulators

摘要

Abstract A solution to the inverse kinematics is a set of joint coordinates which correspond to a given set of task space coordinates (position and orientation of end effector). For the class of kinematically redundant robots, the solution is generically nonunique such that special methods are required for obtaining a solution. The method addressed in the paper, introduced earlier and termed “generalized inverse,” is based on a certain partitioning of the Jacobian functional corresponding to a nonlinear relationship of the inverse kinematics type. The article presents a new algorithm for solving the inverse kinematics using the method of generalized inverse based on a modified Newton‐Raphson iterative technique. The new algorithm is efficient, converges rapidly, and completely generalizes the solution of the inverse kinematics problem for redundant robots. The method is illustrated by numerical examples.