Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry

摘要

In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes.