CYRUS algorithms for manipulators inverse kinematics

摘要

Accuracy, speed and applicable to general problems are among the most important fundamentals in all computational methods. Calculation methods for inverse kinematics of Manipulators are no exception of this rule. Kinematic equations of manipulators are solved using non-linear methods and the accuracy of each manipulator is less than its repeatability. The accuracy of parameters in the robot kinematic equation can affect the robot accuracy. An error in parameter calculations will cause errors in the calculation of joint angles from inverse kinematic equations. Although the repeatability of most computing methods is relatively good, their accuracy is usually very low and its level varies in different robots. Most conventional methods have been designed for specific situations, and certain types of manipulators. When changing Manipulators or joint type, the overall situation of the problem and its solution change completely. This article aims to introduce Cyrus Algorithm for calculating inverse kinematics for Manipulators in a 3D environment. The Cyrus is a general approach that can be used for a variety of Manipulators with any degrees of freedom and joints. In addition to applicable to general I.K, this method has a high speed and accuracy compared to similar methods. In this method, all solutions are calculated by determining spans (ranges) for the manipulator movement. The Cyrus Algorithm idea is based on one of the most basic engineering principles, intuitive understanding and argument computing which is defined with the aid of algebra and geometry with mathematical logics.