What are the joint variables for a given configuration of a robot? This is the problem to be answered by inverse kinematic analysis. In this chapter, you will see that determination of the joint variables reduces to solving a set of nonlinear coupled algebraic equations. Although there is no standard and generally applicable method to solve the inverse kinematic problem, there are a few analytic and numerical methods to solve the problem. The main difficulty of inverse kinematic is the multiple solutions. Inverse kinematics refers to determining the joint variables of a robot for a given position and orientation of the end-effector frame. The forward kinematics of a 6 DOF robot generates a 4 × 4 transformation matrix 0T6 where only six elements out of the 12 elements of 0T6 are independent. Decoupling, inverse transformation, and iterative techniques are three applied methods for solving the inverse kinematics problem. In decoupling technique, the inverse kinematics of a robot with a spherical wrist can be decoupled into two subproblems: inverse position and inverse orientation kinematics.
Inverse Kinematics
Theory of Applied Robotics ; Chapter : 6 ; 313-358
2021-12-08
46 pages
Article/Chapter (Book)
Electronic Resource
English
Springer Verlag | 2022
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