Model
Digital Document
Publisher
Florida Atlantic University
Description
A new approach has been developed for inverse kinematic analysis of redundant robots. In case of redundant robots inverse kinematics is complicated by the non-square nature of the Jacobian. In this method the Jacobian and inverse kinematic equation are reduced based on the rank of the Jacobian and the constraints specified. This process automatically locks some joints of the robot at various trajectory points. The reduced inverse kinematic equation is solved by an iterative procedure to find joint variable values for known task description. The results of computer simulation of the inverse kinematics applied on a redundant planar robot and a redundant moving base robot proved the method to be efficient, and the results can be found within a few iterations with excellent accuracy.
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