An Efficient Pseudo-Inverse Solution to the Inverse Kinematic Problem for 6-Joint Manipulators

摘要

The use of the pseudo-inverse Jacobian matrix makes the solution of the inverse kinematic problem well-defined even at singular configurations of the robot arm, in the neighbourhood of a singularity, however, the computed solution often results in high joint velocities which may not be feasible to the real manipulator. Furthermore, the pseudo-inverse solution is computationally expensive, thus preventing real-time applications.