A Generalized Solution to the Inverse Kinematics of Robotic Manipulators

[+] Author and Article Information
A. A. Goldenberg, D. L. Lawrence

University of Toronto, Department of Mechanical Engineering, Toronto, Ontario, Canada

J. Dyn. Sys., Meas., Control 107(1), 103-106 (Mar 01, 1985) (4 pages) doi:10.1115/1.3140699 History: Received December 05, 1984; Online July 21, 2009


In the context of kinematic control of a robotic manipulator if a certain set of task space coordinates (end effector position and orientation) are commanded then the corresponding configuration space coordinates (joint variables) must be provided. The joint variables are obtained by solving the “inverse kinematics problem.” Typically a solution to the problem can be obtained in closed-form; however, such a solution is inherently manipulator-dependent. The paper presents an approach for providing a generalized inverse kinematics solution which is manipulator-independent. The solution is based on an iterative procedure. An algorithm was developed and demonstrated using the PUMA-560 and Stanford manipulator models.

Copyright © 1985 by ASME
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