Numerical solution of robot arm inverse kinematics and dynamics

摘要

A new method of a numerical solution of robot arm inverse kinematics and dynamics for a desired trajectory expressed in the task coordinates is proposed. In this method, a desired acceleration expressed in the task coordinates is obtained by differentiating a given desired trajectory of the top of hand with respect to time. Then the desired acceleration is transformed into the acceleration of each joint using kinematic relations. Numerical solution of the inverse kinematics can be realized by numerical integration of each joint acceleration. The method is verified by a numerical example. The advantages of this method are: (1) Inverse kinematics can be solved for any construction of robot having six degrees of freedom. (2) Not only inverse kinematics but also each joint acceleration forces can be obtained.