Solutions of Inverse Kinematics of Articulated Robot by Using Repeatedly Direct Kinematics

摘要

In this paper, a method of repeatedly direct kinematics is introduced. By using this method, a flowchart serving for the solution of inverse kinematical problem of an articulated robot arm is investigated. The performance of the flowchart is analyzed in a robot arm whose inverse kinematical answers cannot be directly obtained in formula because of the existence of an offset in its wrist. In the flowchart, because the position error and the posture error are evaluated separately the computing efficiency becomes very high. In addition, another flowchart dealing with the plural answers of a robot hand with the same position and posture is put forward. The solution of the plural answers makes it possible for a robot arm to avoid the angular limitations of its joints or to bypass the obstacles while working.