A New Approach to the Inverse Kinematics of a Multi-Joint Robot Manipulator Using a Minimization Method

摘要

This paper proposes a new approach to solve the inverse kinematics of a type of six-link manipulator. Directing our attention to features of joint structures of the manipulator, the original problem is first formulated by a system of equations with four variables and solved by means of a minimization technique. The remaining two variables are determined from constrained conditions involved. This is the basic idea in the present approach.The results of computer simulation of the present algorithm showed that the accuracies of solutions and convergence speed are much higher and quite satisfactory for practical purposes, as compared with the linearizationiteration method based on the conventional inverse Jacobian matrix.