A novel inverse kinematics algorithm based on unidirectional search

Young Dae Lee; Kee Hwan Kim

doi:10.1117/12.664578

2 May 2006 A novel inverse kinematics algorithm based on unidirectional search

Young Dae Lee, Kee Hwan Kim

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60420V (2006) https://doi.org/10.1117/12.664578
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

In this paper, we propose a novel algorithm can exactly solve the inverse kinematics of a robot manipulator which does not have the closed form solution. The conventional numerical methods suggested by others have a weak point that they do not consider the feasible joint region of solution. Moreover they are likey to saddle on local points not on the real optimal points of solutions. In this work, we consider the inver kinematics problem as a kind of fixed point problem and propose a solution approach based on unidirectional search and boundary reflection algorithm which can guarantee the global optimal solution and the feasible range of joint limits. Futhermore we present an acceleration idea based upon Steffenson iteration which can speed up the search. Simulation results show the validity and efficiency of our approach.

Citation Download Citation

Young Dae Lee and Kee Hwan Kim "A novel inverse kinematics algorithm based on unidirectional search", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60420V (2 May 2006); https://doi.org/10.1117/12.664578

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