AN ITERATIVE SOLUTION TO THE INVERSE KINEMATICS OF ROBOTIC MANIPULATORS

The solution to the inverse kinematics of robotic manipulators is important in the planning of trajectories to be executed by the manipulators in the task space. The problem of inverse kinematics of robotic manipulators involves the determination of a set of feasible joint angles which corresponds to a set of desired spatial coordinates in the task space. The set of desired spatial coordinates in the task space in turn represents the location of a desired point along a prescribed trajectory for the tip of a given manipulator. An iterative solution to the inverse kinematics is presented based on numerical methods for nonlinear algebraic equations. The necessary sets of spatial coordinates of a prescribed trajectory for the tip of both kinematically nonredundant and redundant robotic manipulators are determined using the algorithm. Simulation results from nonredundant and redundant manipulators are presented.