Abstract
This paper proposes a new method of a numerical solution of robot arm inverse kinematics and dynamics for desired trajectory expressed in the task co-ordinates. In this method, a desired acceleration expressed in the task co-ordinates is gained by differentiation of a given desired trajectory of the top of hand with respect to time. Then the object acceleration is transformed using kinematic relations into each joint acceleration. The numerical solution of the inverse kinematics can be obtained by a numerical integration of each joint acceleration. The method is verified by a numerical example.
The advantages of this method are as follows.
(1) The inverse kinematics can be solved for any construction of 6 degree of freedom robot.
(2) Not only inverse kinematics but also each joint acceleration forces can be obtained.
