A Comparison Among the Denavit - Hartenberg, the Screw Theory, and the Iterative Methods to Solve Inverse Kinematics for Assistant Robot Arm

摘要

Inverse kinematics solution, for five degree of freedom assistant robot arm, will be described in this work with three different methods. Denavit - Hartenberg approach (D-H), Screw theory and Iterative method will be used. Novel approach of decoupling method will be detailed; after that analytical solution with Paden-Kahan sub problems will be presented, and iterative method will be applied too. Simulations using previous methods will be shown. Finally, results will be compared and discussed.