Predesign of a Simulator for Inverse Robot Kinematics

摘要

An inverse robot kinematics method is being developed that is to be applicable toany sequential rigid robot. In the report, first requirements are identified and a survey of existing methods is given. An evaluation of these methods with respect to the requirements then shows that a method based on optimization is the best candidate. It satisfies most requirements; the feasibility of the performance requirements still has to be demonstrated. For this, a simulator is required enabling computer experiments with the method. The report contains the predesign for this simulator. It is specified such that from the simulator an operational inverse kinematics method can be easily derived that can be used for path planning and simulation initialization.