AN EFFICIENT FULL-NUMERICAL SOLUTION FOR THE INVERSE KINEMATICS OF THE 6-DOF FULL-ARTICULATED MANIPULATOR | ||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||
| Article 72, Volume 18, 18th International Conference on Applied Mechanics and Mechanical Engineering., April 2018, Pages 1-12 PDF (1.35 M) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/amme.2018.35018 | ||
| Author | ||
| A. A. Saad | ||
| Assistant Professor, Department of Mechatronics Engineering, Pyramids High Institute for Eng. and Technology, 6th October City, Cairo, Egypt. | ||
| Abstract | ||
| ABSTRACT The inverse kinematics (IK) problem for the six degrees of freedom (DoF) fullarticulated manipulator is solved either analytically through closed form solutions, or numerically through iterative algorithms. Analytical solutions are in general, if exist, yield redundant solutions at an affordable and reliable computational cost. Numerical solutions that employ iterative algorithms could yield an accurate single convergent solution that depends upon the picked initial guess, but at relatively higher computational cost. In this paper, an efficient numerical solution that employs an innovative implicit iterative algorithm is applied to the decoupled wrist and shoulder DoF, with the relevant jacobians approximated by first-order finite difference schemes. The presented numerical solution has been applied to the HUBO humanoid robot arm to solve for the IK of a single point in the workspace, and also for trajectory tracking problems. The results for both cases have demonstrated high accuracy at an appropriate computational cost suitable for real-time applications such as IK-based walking of humanoid robots. | ||
| Keywords | ||
| Robot Inverse Kinematics; Numerical Solutions for Inverse Kinematics; 6-DoF Full-Articulated Manipulators | ||
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