Low Cost Numerical Calculation Method for On-line Inverse Kinematics of Redundant Manipulators

Abstract

A large calculation cost is required to solve the inverse kinematics problem by the numerical iterative method ( i.e. Newton-Raphson method) if the dimension of the Jacobian matrix becomes large. In this paper a new high speed numerical calculation method (SMJM method: Simply Modified Jacobian Matrix method) to solve the inverse kinematics of non-redundant manipulators and redundant manipulators are proposed. The calculation time is decreased, by replacing some elements of the Jacobian matrix with zeroes. The Monte Carlo method had been used to verify the advantage of the proposed SMJM method for the six links non-redundant manipulator and the four links redundant manipulator.