A Generic Numerical Inverse Kinematic Algorithm for the Articulated Robot

摘要

A fuzzy iterative method based on multi-agents with movable track equation and abstract link is introduced to solve the inverse kinematic problem, where the movable track equation is to describe the movable track of one of the link and a homogeneous vector as the abstract link stretches from one coordinate origin to another. Theoretically, this method can solve inverse kinematic problem for any serial style robots with any number of revolute links and/or the prismatic links. Practically, it is only realized to deal with those robots with any number of revolute links.