A solution to the extended and generalized inverse kinematic problem

摘要

In this paper we deal with inverse kinematic problems. The first contribution of the paper is the definition, in a formal framework, of some problems related to inverse kinematics which have already been reported in the literature. The second and main contribution consists in the solution of such problems by means of state observers, designed with respect to a time-varying non-linear system associated with the given direct kinematics and reference trajectory. The paper is completed with applications to two-link and three-link robot arms, for which some simulation tests have been carried out, showing the accuracy of the proposed method.