Abstract
In this paper, a new method is proposed of solving the inverse kinematic problem for robot manipulators whose kinematics are allowed to possess singularities. The method is based upon the so-called generalized Newton algorithm, introduced by S. Smale, and can be adopted to both nonredundant and redundant kinematics. Moreover, given a pair of points in the external space of a manipulator, the method is capable of generating a minimum-length trajectory joining the points (a geodesic), in particular a straight-line trajectory. Results of representative computer experiments, including those with the PUMA 560 kinematics, are reported in order to illustrate the performance of the method.
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Tchoń, K., Dulęba, I. On inverting singular kinematics and geodesic trajectory generation for robot manipulators. J Intell Robot Syst 8, 325–359 (1993). https://doi.org/10.1007/BF01257948
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DOI: https://doi.org/10.1007/BF01257948