Numerical Solution of Prioritized Inverse Kinematics Using the Method of Sections

Abstract

This paper proposes a new numerical solution of prioritized inverse kinematics using the method of sections. First of all, this paper shows the differential kinematics of the manipulator whose one of link is virtually disconnected. The proposed method is based on the differential kinematics. Next, the problems of applying the method of sections to the prioritized inverse kinematics are pointed out, and solutions of the problems are described. Finally, simulation experiments to compare the proposed method with the conventional method are performed, and the result shows that the proposed method is superior to the conventional method in terms of computation time.