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This research addresses the inverse kinematic problem for manipulators of various structures, aiming to develop an efficient numerical solution.

On the Numerical Solution of the Inverse Kinematic Problem

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This research addresses the inverse kinematic problem for manipulators of various structures, aiming to develop an efficient numerical solution.
Introduced a formulation based on invariants in the rotational closure equations, resulting in an overdetermined nonlinear algebraic system.
Applied a recursive scheme for polynomial evaluation to reduce computational demands.
Included velocity and acceleration kinematic inversions for comprehensive analysis.
Successfully applied the method to a six-degree-of-freedom revolute-coupled manipulator, demonstrating its effectiveness in complex scenarios.
The procedure also proved efficient for 7R spatial linkages, achieving accurate numerical solutions with reduced computation.

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Randomized trial presents a numerical method for solving inverse kinematic problems in manipulators, indicating efficiency improvements.

Jorge Angeles (1985) studied this question.

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