Analytical Study of Algorithms for Solving Inverse Kinematic Problems in Robot Motion Control

Dr. Osama Ahmad Salim Safarini
2018 International Journal of Advanced Computer Science and Applications  
The given article covers the general formulations of inverse kinematic problems for robot motion control systems. We have discussed the difficulties how to solve such problems using analytical and numerical methods. We have also analyzed the convergence of iterative algorithms with the regularization on the trajectory with the points outside of the gripper reachability. The example of an iterative calculation of joint trajectories for a 3link robot using the recursive algorithm for the Jacobi matrix calculation has been presented.
doi:10.14569/ijacsa.2018.090410 fatcat:pzkni7wwobfa7jjr5eo6no36mq